JP4287170B2 - Map data processor - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a map data processing apparatus.
[0002]
[Prior art]
A navigation device that displays a road map to guide a vehicle is known. In such a navigation device, a road may be represented using the concept of a link and a node. A node refers to an intersection or a designated point on a road, and a link corresponds to a road between nodes. The navigation device stores data related to links and nodes as road map data, and performs various navigation processes such as display of a road map.
[0003]
Further, when the current location of the vehicle is displayed on the road map, the detected current location of the vehicle may not be located on the displayed road. In such a case, a technique called map matching is known in which the current location of the vehicle is matched to the road of the road map data.
[0004]
[Patent Document 1]
JP-A-8-334344 [Patent Document 2]
Japanese Patent Laid-Open No. 10-122877
[Problems to be solved by the invention]
However, since the road is represented only by a line segment called a link, there is a problem that the road cannot be displayed with good appearance. When doing map matching, there was a problem that it was not necessarily good-looking and accurate.
[0006]
An object of the present invention is to provide a map data processing device that displays a road map with good appearance and performs map matching with good appearance and accuracy.
[0007]
[Means for Solving the Problems]
The invention of claim 1 is applied to a map data processing apparatus, has information relating to a road map in which roads are divided and managed by a predetermined management unit, and has a structure having polygon information of a road corresponding to the predetermined management unit Map data acquisition means for acquiring the map data, current position detection means for detecting the current location of the map data processing device, and processing means for processing the map data based on the acquired map data and the detected current location. means, if not located within the detected current position is represented by the polygon information map matching process, without performing the map matching processing when the detected current position is located within the range represented by the polygon information, map The data processing device is mounted on a vehicle, the map data further includes line segment information corresponding to a predetermined management unit, and roads corresponding to the predetermined management unit are moved up and down. When the map data has different polygon information corresponding to the upper and lower lines of the road, and the processing means performs the line matching when the map matching process is performed when the road corresponding to the predetermined management unit has the upper and lower lines. Instead of performing map matching processing so that it is located on a line segment based on the information, the traveling direction of the vehicle is determined based on the detected current location, and among the polygon information corresponding to the upper and lower lines of the road, the determined vehicle A map matching process is performed so that the map matching process is located in the center of the width direction that extends to the left and right with respect to the traveling direction of the vehicle within the range represented by the polygon information of the lane corresponding to the traveling direction. .
According to a second aspect of the present invention, in the map data processing apparatus according to the first aspect, the processing means performs processing to display a road map on the display device using the polygon information.
According to a third aspect of the present invention, in the map data processing apparatus according to the second aspect of the present invention, the processing means performs processing so as to display a road map with different colors of roads corresponding to polygon information. It is.
According to a fourth aspect of the present invention, in the map data processing device according to any one of the first to third aspects, map data is provided for each different level of scale, and polygon information is provided for map data of a predetermined scale level. It is characterized by that.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
[0009]
FIG. 1 is a block diagram of an in-vehicle navigation device 1 using the map data processing device of the present invention. The navigation device 1 includes a control device 11, a current location detection device 12, a DVD drive device 13, an input device 14, a memory 15, and a monitor 16.
[0010]
The control device 11 includes a microprocessor and its peripheral circuits. The current position detection device 12 is a current position detection device that detects the current position of the vehicle. For example, a direction sensor that detects the traveling direction of the vehicle, a vehicle speed sensor that detects the vehicle speed, or a GPS that detects a GPS signal from a GPS (Global Positioning System) satellite. It consists of sensors. The DVD drive device 13 is a device that loads the recording medium 2 and reads map data and the like. The recording medium 2 stores map data, management information, guidance search data, and the like. The recording medium 2 is a DVD-ROM. It may be a CD-ROM or other recording medium.
[0011]
The memory 15 is a memory that stores vehicle position information detected by the current location detection device 12, node information on the recommended route calculated by the control device 11, link information, and the like. The memory 15 is a working area of the control device 11.
[0012]
The monitor 16 is a display device that displays a map, a recommended route, and various information. The monitor 16 may be provided integrally as a part of the navigation apparatus body, or may be provided separately as a housing. Further, only the monitor 16 may be connected to the navigation apparatus main body by a cable or the like and provided at a separated position. The input device 14 is an input device for inputting a destination of a vehicle or the like when searching for a route. A remote controller may be used, or a touch panel provided on the screen of the monitor 16 may be used. Moreover, the input device by voice may be used. The control device 11 uses the vehicle current location information detected by the current location detection device 12 and the map data stored in the recording medium 2 to perform various navigation processes such as road map display, route search, route guidance, and the like. Do. Various processing programs executed by the control device 11 are incorporated in a ROM (not shown) provided in the control device 11.
[0013]
-Map data structure-
The data structure of the map data according to this embodiment will be described in more detail. The map data is information related to the map, and includes road data used for road display and identification of the current location of the vehicle, route calculation data used for route search, and guidance data used for guidance. In the present embodiment, road data used for displaying roads and specifying the current location of vehicles will be described below as map data.
[0014]
In the map data of the present embodiment, roads are represented by the concept of links, nodes, and link strings. A node is an intersection or a specified point on the road. A link corresponds to a road between nodes, and a link row represents one road by a plurality of links. The map data is composed of link string data.
[0015]
FIG. 2 is a diagram illustrating a relationship between an actual road, a link, a node, a link string, and a polygon (described later). In FIG. 2, the road 22 branches off from the road 21. The road 21 is represented by a link string LS1, and the link string LS1 includes a node N1, a link L1, a node N2, a link L2,. . . , Node Nn, and link Ln. The road 22 is represented by a link string LS2. The link string LS2 includes a node N4, a link L4, a node N5, a link L5. . . Consists of Node N2 and node N4 have the same coordinates.
[0016]
FIG. 3 is a diagram illustrating a structure of link string data corresponding to the link string of FIG. The data of the link string LS1 includes link string information 31, a node N1 position coordinate X1 (32), a node N1 position coordinate Y1 (33), a link IDL1 (34), a polygon P1 data 35, a node N2 position coordinate X2 (36), The node N2 position coordinate Y2 (37), the link IDL2 (38), the polygon P2 data 39, the node Nn position coordinate Xn40, the node Nn position coordinate Yn41, the link IDLn42, and the polygon Pn data 43 are included. The link string LS2 includes link string information 44, node N4 position coordinates X4 (45), node N4 position coordinates Y4 (46), link IDL4 (47), polygon P4 data 48, node Nm position coordinates Xm49, and node Nm position coordinates Ym50. , Link IDLm 51 and polygon Pm data 52.
[0017]
The link string information 31, 44 stores data such as the size of link string data and link attributes. In the node position coordinates X32, 36, 40, 45, 49, the X coordinate value of the node is stored. The node position coordinates Y33, 37, 41, 46, and 50 store the Y coordinate value of the node. The XY coordinate value can be a value defined by various methods. For example, a value obtained by calculating a latitude / longitude value with a predetermined formula is used, or a map is divided into predetermined meshes, and a value obtained by normalizing the inside of the mesh with a predetermined value is used. That is, the XY coordinate value is a value that can specify the position on the map. In the link IDs 34, 38, 42, 47, 51, an identification number or an identification symbol for specifying each link is stored. The link ID may be assigned a serial number for the links in the mesh, or may be specified by the position coordinates of the nodes at both ends.
[0018]
Polygon data 35, 39, 43, 48, and 52 store polygon data corresponding to each link. For example, the polygon P1 is composed of the position coordinates of the points 31 to 34. The position coordinates are the same as the position coordinates of the node. A polygon is a polygon and is composed of a plurality of points. A predetermined closed range can be expressed by connecting the points constituting the polygon with straight lines. In the present embodiment, one polygon data is prepared corresponding to a link which is a road management unit. A link can represent only a line segment, but a polygon can represent a planar shape of a road. That is, the polygon data has road plane information.
[0019]
Polygon data can also be mechanically generated by image processing from aerial photographs or the like. In order to generate polygon data that is finer and suitable for navigation processing, it may be manually generated using map or photo data.
[0020]
Thus, by having polygon data at each link, it is possible to display a road map along the actual road shape. It is also possible to paint the color of the road according to the actual road shape. In FIG. 3, the position coordinates of each node are also stored as link string data. The line segment information of the link can also be acquired from the position coordinates of this node. That is, one-dimensional road data can be acquired from the position coordinates of the node, and two-dimensional road data can be acquired from the polygon data.
[0021]
In the description of FIG. 2, the example in which the road has polygon data without distinction between the upper and lower lines has been described. FIG. 4 is a diagram showing an example having polygon data by distinguishing the upper and lower lines of a road. The link string LS11 indicating the road 40 includes a node N11, a link L11, a node N12. . . Consists of In the example of FIG. 4, two polygon data of a polygon P11 composed of point 41, point 42, point 43, and point 44 and a polygon P12 composed of point 42, point 45, point 46, and point 43 are obtained for link L11. Have. If the direction in which links are sequentially arranged in the link row is the forward direction (+) and the opposite direction is the reverse direction (−), the polygon P12 is a forward polygon and the polygon P11 is a reverse polygon.
[0022]
Thus, by having a forward and reverse polygon for each link, it is possible to distinguish and display the upper and lower lines of the road. When only the up line is congested, it is possible to display the color of the congested traffic only on the up line. In addition, map matching with high accuracy is possible also in map matching described later.
[0023]
FIG. 5 is a diagram illustrating how polygon data is generated on a three-way (T-junction). FIG. 5A shows a state of an actual three-way road and a state of connection of the node N21 and the links L21, L22, and L23. FIG. 5B shows an example of generating polygon data for the three-way road. The polygon P21 corresponding to the link L23 has points 53 to 57. . . Consists of The polygon P22 corresponding to the link L22 has points 58 to 62. . . Consists of The polygon P23 corresponding to the link L21 has points 63, 64,. . . Consists of In this way, polygon data along the actual road shape can be generated. This may be generated by a machine or manually.
[0024]
In the example of FIGS. 2 and 5, the polygons are generated so as to overlap in the vicinity of the node, while in the example of FIG. 4, the polygons are generated so as not to overlap. In polygon data, it does not have a very important meaning whether it overlaps in the vicinity of a node or not.
[0025]
FIG. 6 is a diagram showing a flowchart for displaying a road map around the current location. The control device 11 executes. In step S1, the current location of the vehicle is detected using the current location detection device 12. In step S <b> 2, the detected map data in the vicinity of the current location of the vehicle is read from the recording medium 2 via the DVD drive device 13. In step S3, a planar road map around the current location is displayed on the monitor 16 based on the read map data. At this time, the above-described polygon data is used to display the road in a planar manner with an area, that is, with a two-dimensional extent. Further, based on the road type and traffic jam information, the roads are displayed in different colors for each polygon. When polygon data having a distinction between the upper and lower lines of the road is included, the upper and lower lines are distinguished and displayed.
[0026]
FIG. 7 is a diagram showing a flowchart of control for performing map matching processing using polygon data. In step S11, the current location of the vehicle is detected using the current location detection device 12. In step S12, it is determined whether or not the detected current location of the vehicle is within the polygon. If it is determined that it is within the polygon, the map matching process in step S13 is skipped and the process is terminated. That is, if it is determined that it is within the polygon, the map matching process is not performed. If it is determined in step S12 that it is not within the polygon, the process proceeds to step S13.
[0027]
In step S13, map matching processing is performed. The map matching process refers to a process of correcting the current location of the vehicle so that it is located on the road of the road map data when the current location of the detected vehicle is not located on the displayed road. In this embodiment, since it is out of the polygon range, correction is made so that it falls within the polygon range. Specifically, a process of calculating from the position coordinates of the node and placing it on the closest link is performed. That is, a process of placing on a line segment (link) which is a road management unit is performed.
[0028]
In addition, when it has a polygon which distinguishes an up-and-down line, based on the output of a present location detection apparatus, the advancing direction of a vehicle is judged and the process put on a corresponding polygon is performed. Since the polygons are distinguished from the forward direction or the backward direction, processing is performed based on this distinction. At this time, it is arranged so as to be placed almost at the center of the width of the polygon spreading left and right in the vehicle traveling direction. Even when there is only one polygon as described above, it may be placed almost at the center of the width of the polygon. In the case of processing to be placed in a polygon, processing that is not necessarily in the center but is located in the approximate polygon may be performed. When the process of step S13 is completed, the process ends.
[0029]
When the map data having the data structure of the present embodiment described above is used, the following effects are obtained.
(1) Since there is polygon data of plane information (two-dimensional information) representing the shape of the road corresponding to each link, the road map can be displayed with good appearance. Specifically, display along the actual road shape is possible. Further, since the polygon data is included, the road color-coding process can be performed with a simple process. For example, it is possible to easily perform color coding processing according to a road type such as an expressway, a national road, or a local road while accurately representing the shape of the road.
(2) It is possible to accurately represent the road shape of the intersection angle, the branch road or the side road of the expressway. In particular, the width of the branch road of the expressway can be accurately grasped in advance and safe driving can be secured.
(3) When the map matching process is performed, it is determined whether or not the current location is in the polygon, so that the map matching is performed with good appearance and accuracy. Also, unnecessary map matching processing is reduced. For example, when making a left or right turn at a large intersection, if there is only link segment data, it is determined that the link is off the link, and a map matching process is performed on the link. At this time, in some cases, the current location mark may be matched so as to return. However, as in this embodiment, since it is determined whether or not the current location is in the polygon, the map matching process is not performed in the intersection as long as it is determined by the polygon data that the vehicle is in the intersection. Therefore, it is possible to display the current location of the vehicle in accordance with actual traveling.
(4) In the case of having polygon data in which the upper limit line is distinguished, map matching is performed on the up line or the down line that is actually running at the time of map matching. In addition, when displaying traffic information or the like, it is possible to easily display only the up line or the down line with the traffic information in different colors.
[0030]
In the above embodiment, the control program executed by the control device 11 of the navigation device has been described as being stored in the ROM. However, the present invention is not limited to this. The control program and its installation program may be provided on a recording medium such as a DVD. The recording medium need not be limited to a DVD, and a CD-ROM, a magnetic tape, or any other recording medium may be used. In this case, the recording medium providing the program is loaded into the DVD drive device 13 in the same manner as the recording medium 2 in FIG.
[0031]
Further, the program can be provided via a transmission medium such as an electric communication line represented by the Internet. In other words, the program can be converted into a signal on a carrier wave that carries the transmission medium and transmitted. When the program is provided via the Internet, the navigation device 1 may be provided with a communication I / F that can be connected to a mobile phone or the like.
[0032]
Further, a navigation device may be realized by executing the above-mentioned program on a personal computer. In this case, the current location detection device 12 and the input device 14 may be connected to a predetermined I / O port of a personal computer. When implemented by a personal computer, the program is provided via a recording medium or an electric communication line such as the Internet. FIG. 8 is a diagram showing this state. The personal computer 100 receives a program via the DVD 104. The personal computer 100 has a connection function with the communication line 101. The computer 102 is a server computer that provides the program, and stores the program in a recording medium such as the hard disk 103. The communication line 101 is a communication line such as the Internet or personal computer communication, or a dedicated communication line. The computer 102 reads the program using the hard disk 103 and transmits the program to the personal computer 100 via the communication line 101. That is, the program is transmitted as a data signal on a carrier wave via the communication line 101. Thus, the program can be supplied as a computer-readable computer program product in various forms such as a recording medium and a carrier wave.
[0033]
In the above embodiment, the example of reading the map data from the recording medium 2 has been described, but it is not necessary to limit to this content. Map data may be acquired from a map data providing center through a communication line such as the Internet. In this case, similarly to the provision of the program described above, the navigation apparatus 1 may be provided with a communication I / F that can be connected to a mobile phone or the like.
[0034]
In the above-described embodiment, an example is shown in which the position coordinate data of the nodes constituting the link string is stored in the link string data, but it is not necessary to limit to this content. You may make it also store the data of the position coordinate of the complement point which complements the position of the line segment between nodes.
[0035]
In the said embodiment, description which provides map data for every level from which a reduced scale is not carried out. However, map data may be provided for each level with different scales, and polygon data corresponding to each level may be provided. Or you may make it have polygon data only in the lowest layer (re-detail) level. Further, polygon data may be provided only for data at a level used for map matching or the like. That is, polygon data may be provided for all levels of map data, or polygon data may be provided at a level most suitable for navigation processing.
[0036]
In the said embodiment, although the example of the vehicle-mounted navigation apparatus 1 was shown, it is not necessary to limit to this content. It can also be applied to portable navigation devices. That is, the present invention can be applied to all devices that process map data related to road maps.
[0037]
In the said embodiment, although the example which displays a planar map using map data was shown, it is not necessary to limit to this content. You may make it display a bird's-eye view using this map data. A bird's-eye view is a map that can be seen when looking down a planar map from a predetermined viewpoint height at a predetermined look-down angle and a predetermined spread angle. A method of converting to bird's-eye view data using map data of a planar map is known.
[0038]
In the above embodiment, an example has been described in which different polygon data is provided for each vertical line, but it is not necessary to limit to this content. When there are a plurality of lanes (lanes) on one side, polygon data for each lane may be provided.
[0039]
Although various embodiments and modifications have been described above, the present invention is not limited to these contents. Other embodiments conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention.
[0040]
【The invention's effect】
Since the present invention is configured as described above, it is possible to display a road map with good appearance or to perform map matching with good appearance and accuracy.
[Brief description of the drawings]
FIG. 1 is a block diagram of an in-vehicle navigation device.
FIG. 2 is a diagram illustrating a relationship between an actual road and links, nodes, link strings, and polygons.
FIG. 3 is a diagram illustrating a structure of link string data corresponding to the link string of FIG. 2;
FIG. 4 is a diagram illustrating an example in which polygon data is distinguished from upper and lower lines of a road.
FIG. 5 is a diagram showing how polygon data is generated on a three-way (T-junction).
FIG. 6 is a flowchart illustrating control for displaying a road map around the current location.
FIG. 7 is a flowchart illustrating control for performing map matching processing using polygon data.
FIG. 8 is a diagram illustrating a state in which a program is provided via the Internet.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Navigation apparatus 2 Recording medium 11 Control apparatus 12 Present location detection apparatus 13 DVD drive apparatus 14 Input apparatus 15 Memory 16 Monitor

Claims (4)

A map data processing device,
Map data acquisition means for acquiring map data having a structure having road polygon information corresponding to the predetermined management unit, comprising information relating to a road map in which roads are classified and managed by a predetermined management unit;
Current location detection means for detecting the current location of the map data processing device;
Processing means for processing map data based on the acquired map data and the detected current location;
The processing means performs map matching processing when the detected current location is not located within the range represented by the polygon information, and map matching processing is performed when the detected current location is located within the range represented by the polygon information. Without processing ,
The map data processing device is mounted on a vehicle,
The map data further includes line segment information corresponding to the predetermined management unit;
When the road corresponding to the predetermined management unit has a vertical line, the map data has different polygon information corresponding to the vertical line of the road,
When the map matching process is performed when the road corresponding to the predetermined management unit has an upper and lower line, the processing means does not perform the map matching process so as to be positioned on the line segment based on the line segment information. Rather, the direction of travel of the vehicle is determined based on the detected current location, and the range represented by the polygon information of the lane corresponding to the determined travel direction of the vehicle among the polygon information corresponding to each of the upper and lower lines of the road The map data processing device is characterized in that the map matching processing is performed so as to be positioned approximately at the center in the width direction that spreads to the left and right with respect to the traveling direction of the vehicle . The map data processing device according to claim 1,
The map data processing device, wherein the processing means performs processing to display a road map on a display device using the polygon information. In the map data processing device according to claim 2 ,
The map data processing apparatus, wherein the processing means performs processing to display a road map with different colors of roads corresponding to the polygon information. In the map data processing device according to any one of claims 1 to 3 ,
Map data is provided for each different level of scale,
2. The map data processing apparatus according to claim 1, wherein the polygon information is provided in map data at a predetermined scale level.

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