JP4339714B2 - Route calculation device, route calculation method, and program - Google Patents

Description

  The present invention relates to a route calculation device, a route calculation method, and a program. In particular, the present invention relates to a route calculation apparatus that obtains an entrance / exit route with the lowest movement cost.

Conventionally, in a route calculation device, for example, a method of performing route calculation using the Dijkstra method is known, but there is a problem that it takes a long time to calculate a route when a region to be subjected to route calculation is wide. . In order to solve such problems, the map is divided into meshes of a certain size, and a combination of meshes connecting any two meshes is registered in advance to narrow the area that is subject to route calculation, thereby calculating The structure which shortens time is disclosed (for example, refer patent document 1).
JP-A-6-323861

  However, even when route calculation is performed using the above configuration, there are many routes that pass through a pre-registered mesh, so it is necessary to determine which of these routes has the shortest travel time by the Dijkstra method. . For this reason, when the area | region used as calculation object is large, there exists a subject that route calculation takes a long time.

  Accordingly, an object of the present invention is to provide a route calculation device, a route calculation method, and a program that can solve the above-described problems. This object is achieved by a combination of features described in the independent claims. The dependent claims define further advantageous specific examples of the present invention.

  In order to solve the above-described problem, in the first embodiment of the present invention, the route calculation device includes a mesh storage unit that stores each area on the map in association with one of the plurality of meshes, and each of the plurality of meshes. A mesh moving cost storage unit that stores the moving cost between the doorway and the doorway in association with the mesh, and one of each of the two meshes included in the plurality of meshes is designated. The mesh selection means for selecting a combination of meshes connecting two meshes, the entry / exit selection means for selecting an entrance / exit between adjacent meshes in the selected mesh, and the moving cost between the selected entrance / exit meshes. By reading from the internal movement cost storage unit, each of the selected entrances is connected to one entrance, and the travel cost is the lowest. And a route calculating means for determining the entrance path made. As a result, the route can be calculated at a higher speed than when the movement cost between the two selected meshes is calculated using the Dijkstra method.

  When the start point inside one mesh and the end point inside another mesh are specified, the above route calculation device is an end entrance that is a selected entrance to a mesh adjacent to the mesh including the start point and end point. By further including an end moving cost calculating means for calculating the end moving cost up to at least using the Dijkstra method, the moving cost between the end entrances and exits is obtained by the route calculating means, and the end moving cost is added, The movement cost from the start point to the end point may be calculated. As a result, the route can be appropriately obtained regardless of the position of the start point and the end point.

  The route calculation apparatus includes a fine mesh storage unit that stores each area included in a mesh in association with any of the fine meshes obtained by dividing the mesh, a road entrance to the fine mesh, and a distance between the entrances and exits. A moving cost storage unit for storing the moving cost of the mesh, and the end moving cost calculation means calculates the moving cost from the starting point and the ending point to each one of the fine meshes including the starting point and the ending point by the Dijkstra method. Each of the mesh selecting means, the entrance / exit selecting means, and the route calculating means, each of the fine meshes from the entrance / exit of one fine mesh to the entrance / exit of the mesh near each entrance / exit of the fine mesh. Combination, entrance to the fine mesh, and one entry / exit of each fine mesh to the entry / exit of the neighboring mesh A means for calculating a route, and the edge movement cost calculation means adds the movement cost from one gateway of each of the fine meshes to the gateway of a neighboring mesh to the movement cost calculated by the Dijkstra method. The part movement cost may be calculated. As a result, a route can be obtained at a higher speed than when all the routes from the start point and end point to the end entry / exit of each mesh including the start point and end point are obtained using the Dijkstra method.

  In the above route calculation device, the size of the mesh in the urban area where the traffic volume is larger may be smaller than the size of the mesh in other regions. In the above route calculation device, the size of the mesh in the urban area where the road density is high may be smaller than the size of the mesh in other regions.

  When the mesh size is constant, the number of mesh entrances and exits in urban areas where there is a lot of traffic and urban areas where road density is high is relatively larger than the number of mesh entrances and exits in other areas. However, when obtaining the part movement cost from the start point and the end point to the end entrance / exit, it is desirable that the number of entrances / exits be small in order to shorten the calculation time of the movement cost. In the route calculation device according to the present invention, the number of entrances to the mesh is relatively reduced by making the mesh of the area where the traffic volume and road density are large smaller than the mesh of other areas, so that the speed is high. A route can be obtained. A smaller mesh may be associated with a finer road entrance / exit, thereby improving the accuracy of route search.

  In the second aspect of the present invention, a mesh storage unit that stores each area on the map in association with any of a plurality of meshes, a doorway to each of the plurality of meshes, and movement between the doorways A route calculation method for calculating a route by controlling a route calculation device including an in-mesh movement cost storage unit that stores a cost in association with the mesh, and any two meshes included in the plurality of meshes A mesh selection step for selecting a combination of meshes connecting two meshes, and an entrance selection step for selecting an entrance / exit between adjacent meshes in the selected mesh when one entry / exit is designated. By reading the movement cost between the selected entrances and exits from the in-mesh movement cost storage unit, among the selected entrances and exits, Connecting 々_1 one doorway, and a path calculating step of obtaining a path of least movement cost is reduced doorway. Thereby, the effect similar to 1st Embodiment can be acquired.

  In the above route calculation method, when a start point inside one mesh and an end point inside another mesh are specified, an end doorway that is a selected doorway to a mesh adjacent to the mesh including the start point and the end point By further including an end movement cost calculation step for calculating the end movement cost up to at least using the Dijkstra method, obtaining the movement cost between the end entrances and exits by the route calculation step, and adding the end movement cost, The movement cost from the start point to the end point may be calculated. Thereby, the effect similar to 1st Embodiment can be acquired.

  The route calculation apparatus includes a fine mesh storage unit that stores each area included in a mesh in association with any of the fine meshes obtained by dividing the mesh, a road entrance to the fine mesh, and a distance between the entrances and exits. A movement cost storage unit for storing the movement cost of the fine mesh, and the end movement cost calculation step includes a movement cost from the start point and the end point to each one of the fine meshes including the start point and the end point. Means for calculating using Dijkstra's method, and each of the mesh selection step, the entrance / exit selection step, and the path calculation step is performed from the entrance / exit of each fine mesh to the entrance / exit of the mesh in the vicinity of each entrance / exit of the fine mesh. From the combination of fine meshes, the entrance to the fine mesh, and one entry / exit of the fine mesh, A step of calculating a route to the mesh entrance / exit, and the end movement cost calculating step includes a travel cost calculated by the Dijkstra method, and a moving cost from one entrance / exit of each of the fine meshes to an entrance / exit of a neighboring mesh. You may calculate an edge part movement cost by adding. Thereby, the effect similar to 1st Embodiment can be acquired.

  In the third embodiment of the present invention, a mesh storage unit that stores each area on the map in association with one of a plurality of meshes, a road entrance to each of the plurality of meshes, and movement between the entrances and exits A program for operating a route calculation device including an in-mesh movement cost storage unit that stores costs in association with the meshes, and each one of two meshes included in a plurality of meshes is designated by one gateway The mesh selection means for selecting a combination of meshes connecting the two meshes, the entrance / exit selection means for selecting the entrance / exit between adjacent meshes in the selected mesh, and the movement cost between the selected entrance / exit By reading from the in-mesh movement cost storage unit, the most moving one that connects each of the selected entrances. And a route calculating means for determining the path of the doorway strike is reduced. Thereby, the effect similar to 1st Embodiment can be acquired.

  The above program, when the start point inside one mesh and the end point inside another mesh are specified, is the end gateway that is the selected gateway to the mesh adjacent to the mesh containing the start point and end point. It further comprises an edge movement cost calculation means for calculating the edge movement cost using at least the Dijkstra method, the movement cost between the edge entrances and exits is obtained by the route calculation means, and the edge movement cost is added, so that You may calculate the movement cost to an end point. Thereby, the effect similar to 1st Embodiment can be acquired.

  The route calculation apparatus includes a fine mesh storage unit that stores each area included in a mesh in association with any of the fine meshes obtained by dividing the mesh, a road entrance to the fine mesh, and a distance between the entrances and exits. A moving cost storage unit for storing the moving cost of the fine mesh, and the end moving cost calculating means calculates the moving cost from the starting point and the ending point to each one of the fine meshes including the starting point and the ending point. Means for calculating using the Dijkstra method, and each of the mesh selection means, the entrance / exit selection means, and the route calculation means, each from the entrance / exit of one fine mesh to the entrance / exit of the mesh near each entrance / exit of the fine mesh, The combination of fine meshes, the entrance to the fine mesh, and the entry / exit of each neighboring mesh from one entry / exit of the fine mesh Means for calculating the route to the mouth, and the end movement cost calculation means adds the movement cost from one entrance / exit of each of the fine meshes to the entrance / exit of the neighboring mesh to the movement cost calculated by the Dijkstra method. Thus, the end part movement cost may be calculated. Thereby, the effect similar to 1st Embodiment can be acquired.

  The above summary of the invention does not enumerate all the necessary features of the present invention, and sub-combinations of these feature groups can also be the invention.

  Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the invention according to the scope of claims, and all combinations of features described in the embodiments are included. It is not necessarily essential for the solution of the invention.

  FIG. 1 shows an example of the configuration of a route calculation apparatus 100 according to an embodiment of the present invention. The route calculation device 100 in this example is a car navigation device, for example, and aims to obtain a route between a start point and an end point set by a user of the route calculation device 100 at high speed. The route calculation apparatus 100 includes a mesh storage unit 10, a mesh selection unit 30, an in-mesh movement cost storage unit 40, an entrance / exit selection unit 50, an end portion movement cost calculation unit 60, a route calculation unit 70, and a recording medium 110.

  The mesh storage unit 10 stores each area on the map in association with one of a plurality of meshes. The mesh storage unit 10 in this example stores each area on the map in association with the mesh number of the corresponding mesh. The mesh storage unit 10 stores information indicating the absolute position in each area on the map in association with the mesh number.

  The in-mesh movement cost storage unit 40 stores the road entrances and exits of the plurality of meshes and the movement costs required for movement between these entrances in association with the mesh numbers of the respective meshes. The in-mesh movement cost storage unit 40 in this example stores a movement cost in association with a set of doorway numbers indicating between doorways. The movement cost in this example is the minimum time required for movement between the entrances and exits, and is calculated in advance and stored in the in-mesh movement cost storage unit 40. In this case, the movement cost may be calculated in advance using a technique such as the Dijkstra method. In another example, the movement cost may be an index indicating the distance between the doorway, the fee, the number of corners, the number of signals, the road width, or the weather in the area corresponding to the mesh.

  When the mesh selection unit 30 receives information indicating the position of the start point and end point in each area on the map from the user of the route calculation device 100, the mesh selection unit 30 refers to the mesh storage unit 10 and identifies the mesh including the start point and end point. To do. When a start point inside one mesh and an end point inside another mesh are specified, the mesh selection unit 30 selects a combination of meshes connecting the mesh including the start point and the mesh including the end point. The mesh selection means 30 in this example generates, for example, an elliptical area having a predetermined shape with different starting points and end points, and selects a combination of meshes within the range of the elliptical area. The mesh selecting unit 30 notifies the entrance / exit selecting unit 50 of the mesh number indicating the selected combination of meshes.

  When the mesh number is received from the mesh selection means 30, the entrance / exit selection means 50 selects an end entrance / exit that is an entrance / exit to the mesh adjacent to the two meshes including the start point and the end point. Further, the entrance / exit selection means 50 refers to the intra-mesh movement cost storage unit 40 and selects an entrance / exit between adjacent meshes in the selected mesh. Here, the entrance / exit selection means 50 in this example selects all the entrances / exits in the elliptic region generated by the mesh selection means 30. The entrance / exit selector 50 notifies the end moving cost calculator 60 and the route calculator 70 of the entrance / exit number of the selected entrance / exit.

  The end part movement cost calculating means 60 calculates the end part movement cost from the start point and the end point to each end part entrance / exit using at least the Dijkstra method.

  When the route calculation means 70 receives the entry / exit number from the entry / exit selection means 50, the route calculation means 70 reads each of the movement costs corresponding to the entry / exit set from the in-mesh movement cost storage unit 40, and each of the movement costs corresponding to the read entry / exit set. Is added to calculate the movement cost between the end entrances and exits. Then, the route calculation means 70 calculates the movement cost of the route connecting the start point to the end point by adding the end portion movement cost to the end portion entrance / exit movement cost. Here, the route calculation means 70 calculates the movement cost of the route relayed by the selected entrance / exit, each connecting one end entrance / exit. In this case, the route calculation means 70 calculates the movement cost of all the routes connecting the end entrances / exits for all combinations of the end entrance / exit on the start point side and the end entrance / exit on the end point side. Then, the route calculation means 70 selects a route that minimizes the movement cost of the route connecting the start point to the end point, and notifies the user of the selected route. The route calculation means 70 in this example notifies the user of the combination of entrances / exits that relay the route with the minimum travel cost.

  In this way, when obtaining a route that minimizes the movement cost from one mesh to another mesh in the selected mesh, the route calculation device 100 according to the present invention reduces the minimum cost required for movement between the entrances and exits. Since the movement cost of the route between meshes is calculated by calculating and storing in advance and adding these movement costs, the route with the lowest movement cost using the Dijkstra method in the same selected mesh It is possible to obtain a route having a minimum movement cost at a higher speed than the case of obtaining.

  Here, the route calculation device 100 in this example further includes a fine mesh storage unit 15, an intra-fine mesh movement cost storage unit 45, and an inter-node movement cost storage unit 65. The fine mesh storage unit 15 stores each area included in the mesh in association with one of the fine meshes obtained by dividing the mesh. Here, the fine mesh storage unit 15 stores each area on the map in association with the mesh number of the corresponding fine mesh, and associates information indicating the absolute position in each area with the mesh number of the fine mesh. Store. Further, the intra-fine mesh movement cost storage unit 45 stores the road entrance to the fine mesh and the movement cost between the entrances in association with the fine mesh number of the fine mesh.

  The inter-node movement cost storage unit 65 stores a movement cost necessary for movement on the road passing through the fine mesh. The inter-node movement cost storage unit 65 in this example stores the movement cost between nodes on the road in association with the node number indicating each node. The nodes in this example are road intersections, road mesh doorways, road dead ends, and the like.

  The mesh selection means 30, the entrance / exit selection means 50, and the route calculation means 70 are respectively connected from the entrance / exit of one fine mesh to the mesh entrance / exit near each entrance / exit of the fine mesh to the combination of fine meshes, to the fine mesh. Means for calculating a path from the entrance / exit and each one of the fine meshes to the end entrance / exit. That is, the mesh selection means 30 selects a combination of fine meshes connecting the fine meshes including the start point and the end point and the fine meshes including the end portion entrance / exit. The entrance / exit selection means 50 selects all entrances / exits between adjacent fine meshes in the selected fine mesh. The route calculation means 70 reads the movement costs corresponding to all the combinations of the entrances and exits indicated by the entrance / exit numbers from the intra-fine mesh travel cost storage unit 45 and adds them. Thereby, the route calculation means 70 obtains the movement cost and route from the entrance / exit of the fine mesh including the start point or end point to the end entrance / exit.

  The end part movement cost calculation means 60 calculates the movement cost from the start point and the end point to each one of the fine meshes including the start point and the end point using the Dijkstra method. The end part movement cost calculation means 60 calculates the end part movement cost by adding the movement cost from one entrance / exit of each fine mesh to the end part entrance / exit to the movement cost calculated by the Dijkstra method. Here, the route calculation means 70 in this example is based on the route from the start point and the end point to each end entrance / exit, and the fine mesh entrance / exit so that the sum of the end portion moving cost and the end portion entrance / exit moving cost is minimized. Select the route to the end doorway.

  As described above, the route calculation apparatus 100 according to the present invention calculates the route from the start point and the end point to the entrance / exit of the fine mesh by using the Dijkstra method when obtaining the end part movement cost, and the fine mesh including the start point and the end point is included. The movement cost from the doorway to each end part doorway uses the movement cost between doorways calculated in advance. Therefore, a route can be obtained appropriately regardless of the position of the start point and the end point. Also, a route can be obtained at a higher speed than when all the routes from the start point and end point to the end entry / exit of each mesh including the start point and end point are obtained using the Dijkstra method.

  The recording medium 110 stores a program that causes the route calculation device 100 to function as the mesh selection unit 30, the entrance / exit selection unit 50, the end movement cost calculation unit 60, and the route calculation unit 70. The recording medium 110 may be, for example, an optical recording medium such as a DVD or PD, a magneto-optical recording medium such as an MD, a tape medium, a magnetic recording medium, or a semiconductor recording device. The route calculation apparatus 100 reads these programs from the recording medium 110 and executes them. The route calculation apparatus 100 may further include a communication line for communicating with the outside, and may acquire these programs via this communication line.

  FIG. 2 shows an example of a mesh and a fine mesh. FIG. 2A is a diagram illustrating a mesh. FIG. 2B is a diagram for explaining a fine mesh. The mesh storage unit 10 in this example stores each region on the map 300 in association with, for example, a plurality of rectangular meshes 302 to 318, and the fine mesh storage unit 15 stores each region included in the mesh 304. The mesh is stored in association with the rectangular fine meshes 400 to 416 obtained by dividing the mesh.

  Each of the points indicated by X1 to X12 in FIG. 2A and each of the points indicated by X3, X4, and Y1 to Y14 in FIG. 2B are a mesh and a fine mesh. The straight line connecting the respective entrances indicates that the route is connected between the entrances. A region indicated by a dotted line indicates an elliptical region 510 generated by the mesh selection unit 30 and having a focus on the start point 500 and the end point 502.

  Further, the intra-mesh movement cost storage unit 40 in this example stores only the entrance / exit of a large road that passes through the area corresponding to the mesh, and the intra-mesh movement cost storage unit 45 stores the large road that passes through the area corresponding to the fine mesh. In addition to doorways, it also stores small road doorways that pass through this area. Here, the large road is a main trunk road such as a highway road, a general national road, a prefectural road, a municipal road having four or more lanes, and the small road may be a road other than the main trunk road. This state is shown, for example, in the mesh 304 in FIG. 2A and the fine meshes 400 to 416 in FIG. For example, the mesh 304 shows only one path connecting X3 and X4, whereas the fine meshes 400 to 416 corresponding to the same region include Y1 to Y14 in addition to the path connecting X3 and X4. A plurality of routes are shown, each of which is an entrance / exit.

  FIG. 3 shows an example of the data configuration stored in the in-mesh movement cost storage unit 40. FIG. 4 shows an example of a data configuration stored in the fine mesh movement cost storage unit 45. As shown in FIGS. 3 and 4, the intra-mesh movement cost storage unit 40 and the fine intra-mesh movement cost storage unit 45 store in advance the corresponding movement cost for all combinations between the entrances and exits in each mesh.

  FIG. 5 is a flowchart illustrating an example of the operation of the route calculation apparatus 100. When the user of the route calculation device 100 sets the start point 500 and the end point 502 (S100), the mesh selection unit 30 specifies the mesh 304 including the start point 500 and the mesh 314 including the end point 502, and A combination of meshes connecting the meshes 314 is selected (S105).

  The mesh selection means 30 in this example obtains a predetermined elliptical area 510 with the start point 500 and the end point 502 as focal points, for example, and within this ellipse area 510, the mesh 304 including the start point and the mesh 318 including the end point. Select all mesh combinations that connect. Then, the mesh selection unit 30 notifies the entrance selection unit 50 of the mesh number of the selected mesh.

  When the mesh number is received, the entrance / exit selector 50 refers to the intra-mesh movement cost storage unit 40 and selects all entrances / exits between adjacent meshes in the selected mesh (S110). The entrance / exit selector 50 notifies the end moving cost calculator 60 and the route calculator 70 of the entrance / exit number of the selected entrance / exit.

  Then, the edge part movement cost calculation means 60 calculates an edge part movement cost (S115). The end part movement cost in this example is a movement cost from the start point 500 to X3 or X4 and from the end point 502 to X6, X10, or X11.

  The route calculation means 70 reads the movement cost corresponding to the set of entrances and exits notified by the entrance / exit selection means 50 from the intra-mesh movement cost storage section 40, and adds the read movement costs to the end entrance / exit Is calculated (S120).

  For example, the entrance / exit selection means 50 selects X3 and X4 in the mesh 304 as the end entrance / exit in the mesh including the start point, and selects X6 and X10 as the end entrance / exit in the mesh including the end point. Here, the entrance / exit selection means 50 selects X5 and X8 as the entrance / exit for relaying the end entrance / exit X3 and X4 on the start point side and the end entrance / exit X6 and X10 on the end point side. Then, the route calculation means 70 relays the entrances X5 and X8 from the start-side end entrances X3 and X4, and calculates the travel cost of all routes connecting the end-side end entrances X6 and X10. In this example, the route calculating means 70 is a route from X3 to X6 via X4 and X5, a route from X3 to X4 and X8 to X10, a route from X4 to X5 to X6, and from X4 to X8 to X10. Calculate the travel cost of the route to.

  The route calculation means 70 calculates the movement cost from the start point to the end point by adding the end part movement cost and the movement cost between the end entrances and exits (S125). Then, the route calculation means 70 obtains an entrance / exit route that connects each entrance / exit among the selected entrances / exits and that has the smallest travel cost (S130). As a result, the route calculation means 70 notifies the user of the route having the minimum travel cost.

  FIG. 6 is a diagram for explaining roads and nodes in a fine mesh. For example, each point indicated by Y6, Y11, and Z1 to Z6 indicates a node on a road passing through an area corresponding to the fine mesh 410. Note that the inter-node movement cost storage unit 65 in this example may store information indicating the absolute position of the node. Thereby, when the information indicating the start point and the end point is set, the end part movement cost calculating unit 60 in this example specifies which road on the road the start point and the end point included in the fine mesh are near. .

  FIG. 7 shows an example of the data configuration stored in the inter-node movement cost storage unit 65. The inter-node movement cost storage unit 65 stores in advance the inter-node movement cost in association with the node number indicating the node.

  FIG. 8 is a flowchart showing an example of detailed operation of S115 in FIG. When the start point and the end point are set by the user, the mesh selecting unit 30 refers to the fine mesh storage unit 15 and specifies the fine mesh including the start point and the end point. For example, when the start point 500 is set, the mesh selection unit 30 specifies the fine mesh 410 including the start point 500. Furthermore, the mesh selection means 30 refers to the inter-node movement cost storage unit 65 and selects Z1 and Z5 that are nodes close to the start point 500. Then, the end part movement cost calculation means 60 uses the Dijkstra method to obtain the route from Z1 and Z5 to the entrances Y6 and Y11 of the fine mesh 410 and the movement cost of the route. Thereby, the end part movement cost calculation means 60 calculates the movement cost to the entrance / exit of the fine mesh including the start point and the end point (S200).

  Then, the mesh selection means 30 selects a combination of fine meshes connecting the fine meshes including the start point or the end point and the fine meshes including the end entrance on the start point side or the end point side within the mesh including the start point and the end point ( S205). The mesh selecting means 30 in this example includes, for example, a combination of fine meshes connecting the fine mesh 404 including the end entrance / exit X3 in the mesh 304 including the start point 500, and another end portion from the fine mesh 410. All combinations of fine meshes connecting the fine meshes 414 including the entrance / exit X4 are selected. The mesh selection means 30 notifies the entrance / exit selection means 50 of the mesh number of the selected fine mesh. Here, when receiving the fine mesh number, the entrance / exit selecting means 50 refers to the intra-fine mesh movement cost storage unit 45 and selects an entrance / exit between adjacent fine meshes in the selected fine mesh (S210). In this case, for example, at the starting point 500, the entrance / exit selection means 50 selects entrances / exits in all routes connecting Y11 to X3 or X4, or Y6 to X3 or X4. The entrance selection unit 50 notifies the route calculation unit 70 of the entrance / exit number of the selected entrance / exit.

  When the route calculating means 70 receives the entrance / exit number, it reads out the travel cost corresponding to the entrance / exit indicated by the entrance / exit number from the intra-fine mesh travel cost storage unit 45 and adds the read travel cost. Thereby, the route calculation means 70 calculates the movement cost from the entrance / exit of the fine mesh including the start point or end point to the end entrance / exit. Then, the route calculating means 70 is configured to provide a route from the start point and the end point to the entrance / exit of each fine mesh, such that the sum of the end portion movement cost and the end portion entrance / exit movement cost is minimized, and each fine mesh entrance / exit to each end portion. A route to the entrance and exit and a route between each end entrance and exit are selected. Thereby, the route calculation means 70 calculates the route between the entrances and exits between the fine meshes (S215). For example, the route calculation means 70 selects the route from the start point 500 to Y11 via Z1, Z4 as the route from the start point to the entrance / exit of the fine mesh, and selects the route from Y11 to Y12 to X4 as the fine mesh on the start point side. Is selected as a path from the entrance / exit to the end entrance / exit, and a path from X4 to X5 to X6 is selected as a path between the end entrances / exits. Similarly, the route calculation means 70 obtains a route from X6 to the end point 502. This is the end of the process of this flowchart.

  FIG. 9 is a diagram illustrating an example of the movement cost between the entrance and the exit, which is further stored in the in-mesh movement cost storage unit 40. In this example, the intra-mesh movement cost storage unit 40 stores the movement cost between the entrances and exits calculated in advance, but may further store the calculation result of the movement cost calculated by the route calculation unit 70. Here, the in-mesh movement cost storage unit 40 stores the number of the end entrance / exit and the number of the plurality of entrances / exits that relayed the end entrance / exit in association with the calculated travel cost. In this case, the route calculation apparatus 100 may use the movement cost of the calculation result when obtaining the movement cost of a new route. As a result, the route calculation apparatus 100 according to the present invention does not need to calculate again the movement cost between meshes calculated in the past, and thus can obtain a route at a higher speed.

  In addition, the size of the mesh in this example is the same rectangular shape, but in other examples, the size of the mesh in urban areas where the traffic volume is larger is smaller than the size of the mesh in other regions. Alternatively, the mesh size in the urban area where the road density is high may be smaller than the mesh size in other regions.

  When the mesh size is constant, the number of mesh entrances and exits in urban areas where there is a lot of traffic and urban areas where road density is high is relatively larger than the number of mesh entrances and exits in other areas. However, when obtaining the part movement cost from the start point and the end point to the end entrance / exit, it is desirable that the number of entrances / exits be small in order to shorten the calculation time of the movement cost. In the route calculation apparatus 100 according to the present invention, since the mesh in the area where the traffic volume and road density is large is reduced, the number of entrances to the mesh can be relatively reduced, so that the route can be obtained at high speed. it can. Further, a finer road entrance / exit may be associated with a small mesh, thereby improving the accuracy of route search.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

It is a figure which shows an example of a structure of the route calculation apparatus 100 which concerns on embodiment of this invention. It is a figure which shows an example of a mesh and a fine mesh. (A) is a figure explaining a mesh, (b) is a figure explaining a fine mesh. It is a figure which shows an example of the data structure stored in the moving cost storage part 40 in a mesh. It is a figure which shows an example of the data structure stored in the movement cost memory | storage part 45 in a fine mesh. 4 is a flowchart showing an example of the operation of the route calculation apparatus 100. It is a figure explaining the road and node in a fine mesh. It is a figure which shows an example of the data structure stored in the movement cost memory | storage part 65 between nodes. It is a flowchart which shows an example of the detailed operation | movement of S115 in FIG. It is a figure which shows an example of the movement cost between entrances further stored in the movement cost memory | storage part 40 in a mesh.

Explanation of symbols

10 ... mesh storage unit, 15 ... fine mesh storage unit, 30 ... mesh selection means, 40 ... intra-mesh movement cost storage unit, 45 ... fine mesh movement cost storage unit, .. Entrance / exit selection means, 60... End movement cost calculation means, 65... Inter-node movement cost storage section, 70... Path calculation means, 100... Path calculation device, 110. , 300 ... map, 302 to 318 ... mesh, 400 to 416 ... fine mesh, 500 ... start point, 502 ... end point, 510 ... elliptical region, X1 to X12, Y1 to Y14 ... Gateway, Z1-Z6 ... Node

Claims (11)

A mesh storage unit that stores each area on the map in association with one of a plurality of meshes;
The in-mesh movement cost storage unit that stores the road entrance to each of the meshes and the movement cost between the entrances in association with the mesh,
Mesh selecting means for selecting a combination of meshes connecting the two meshes when a start point inside one mesh and an end point inside another mesh of any two meshes included in the plurality of meshes are designated. When,
An entrance / exit selection means for selecting an entrance / exit between adjacent meshes in the selected mesh;
A route for obtaining a path of an entrance / exit that connects the two meshes and has the smallest travel cost by reading the movement cost between the selected entrances / exits from the intra-mesh movement cost storage unit. A route calculation device comprising: calculation means. The start point, and when the end point is specified, the start point and the end cost of moving to the end doorway is selected gateway to the meshes adjacent to the mesh that contains the end point is at least Dijkstra method An end movement cost calculating means for calculating using
The route calculation apparatus according to claim 1, wherein a movement cost between the start point and the end point is calculated by obtaining a movement cost between the end entrances and exits by the route calculation unit and adding the end part movement costs. A fine mesh storage unit that stores each region included in the mesh in association with one of the fine meshes obtained by dividing the mesh;
A road entry / exit of the road to the fine mesh, and a movement cost storage unit in the fine mesh for storing a movement cost between the entry and exit,
With
The end part moving cost calculating means has means for calculating a moving cost from the start point and the end point to each one of the fine meshes including the start point and the end point using a Dijkstra method,
The mesh selection means, the entrance / exit selection means, and the path calculation means are each a combination of the fine meshes from the entrance / exit of the one fine mesh to the entrance / exit of the mesh near the entrance / exit of the fine mesh, Means for calculating a route from an entrance to the fine mesh and each one of the fine meshes to an entrance of the neighboring mesh;
The end part movement cost calculating means adds the movement cost from the respective one of the fine meshes to the entrance / exit of the neighboring mesh to the movement cost calculated by the Dijkstra method. The route calculation apparatus according to claim 2, which calculates   The route calculation device according to claim 1, wherein a size of the mesh in an urban area where traffic is larger is smaller than a size of the mesh in another area.   The route calculation device according to claim 1, wherein a size of the mesh in an urban area where road density is high is smaller than a size of the mesh in another region. Each area on the map is stored in association with one of a plurality of meshes, and the road entrance to each of the plurality of meshes and the movement cost between the entrances are associated with the meshes. A route calculation method for calculating a route by controlling a route calculation device including an in-mesh movement cost storage unit,
A mesh selection step of selecting a combination of meshes connecting the two meshes when a start point inside one mesh and an end point inside another mesh of any two meshes included in the plurality of meshes are designated. When,
An entry / exit selection step of selecting an entry / exit between adjacent meshes in the selected mesh;
A route for obtaining the route of the entrance / exit that connects the two meshes and has the smallest travel cost among the selected entrance / exit by reading out the movement cost between the selected entrances / exits from the intra-mesh movement cost storage unit. A route calculation method comprising: a calculation step. The start point, and when the end point is specified, the start point and the end cost of moving to the end doorway is selected gateway to the meshes adjacent to the mesh that contains the end point is at least Dijkstra method An edge movement cost calculating step to calculate using
The route calculation method according to claim 6, wherein a movement cost from the start point to the end point is calculated by obtaining a movement cost between the end entrances and exits by the route calculation step and adding the end part movement costs. The path calculation device stores each area included in the mesh in association with one of the fine meshes obtained by dividing the mesh, a road entrance to the fine mesh, and a space between the entrances and exits. It further includes a movement cost storage unit in the fine mesh that stores the movement cost,
The end part movement cost calculating step includes means for calculating a movement cost from the start point and the end point to one entrance of each of the fine meshes including the start point and the end point using a Dijkstra method,
The mesh selection step, the entrance / exit selection step, and the route calculation step are each a combination of the fine meshes from the entrance / exit of the one fine mesh to the entrance / exit of the mesh near the entrance / exit of the fine mesh, Calculating a route from an entrance to the fine mesh and each one of the entrances of the fine mesh to an entrance of the neighboring mesh;
The end movement cost calculating step adds the movement cost from the respective one entrance / exit of the fine mesh to the entrance / exit of the neighboring mesh to the movement cost calculated by the Dijkstra method. The route calculation method according to claim 7, wherein the route is calculated. Each area on the map is stored in association with one of a plurality of meshes, and the road entrance to each of the plurality of meshes and the movement cost between the entrances are associated with the meshes. A program for functioning a route calculation device including an in-mesh movement cost storage unit for storing,
Mesh selecting means for selecting a combination of meshes connecting the two meshes when a start point inside one mesh and an end point inside another mesh of any two meshes included in the plurality of meshes are designated. When,
An entrance / exit selection means for selecting an entrance / exit between adjacent meshes in the selected mesh;
A route for obtaining the route of the entrance / exit that connects the two meshes and has the smallest travel cost among the selected entrance / exit by reading out the movement cost between the selected entrances / exits from the intra-mesh movement cost storage unit. A program comprising a calculation means. The start point, and when the end point is specified, the start point and the end cost of moving to the end doorway is selected gateway to the meshes adjacent to the mesh that contains the end point is at least Dijkstra method An end movement cost calculating means for calculating using
The program according to claim 9, wherein a movement cost from the start point to the end point is calculated by obtaining a movement cost between the end part entrances and exits by the route calculation unit and adding the end part movement cost. The path calculation device stores each area included in the mesh in association with one of the fine meshes obtained by dividing the mesh, a road entrance to the fine mesh, and a space between the entrances and exits. It further includes a movement cost storage unit in the fine mesh that stores the movement cost,
The end part moving cost calculating means has means for calculating a moving cost from the start point and the end point to each one of the fine meshes including the start point and the end point using a Dijkstra method,
The mesh selection means, the entrance / exit selection means, and the path calculation means are each a combination of the fine meshes from the entrance / exit of the one fine mesh to the entrance / exit of the mesh near the entrance / exit of the fine mesh, Means for calculating a route from an entrance to the fine mesh and each one of the fine meshes to an entrance of the neighboring mesh;
The end movement cost calculating means adds the movement cost from the respective one of the fine meshes to the entrance / exit of the neighboring mesh to the movement cost calculated by the Dijkstra method. The program according to claim 10, which calculates

Images