JP6238738B2 - Route search apparatus and method, computer program for searching for route, and recording medium recording computer program - Google Patents

Description

  The present invention relates to an apparatus and a method for searching for an efficient route by reflecting a traveling situation of a past field survey when a vehicle is traveled to perform a field survey.

In general, map data used in a navigation device or the like is information such as position information obtained by actually traveling on a road to be surveyed by a vehicle, or a captured image of the front and rear of a vehicle obtained by a vehicle-mounted video camera or the like. It is created based on etc. Various developments have been carried out in order to efficiently perform field surveys (hereinafter also referred to as running conditions) that are carried out by driving a vehicle in this way.
For example, in Patent Document 1, in road surveys, warnings are given to the investigator that traffic on a road from which map information should be acquired has been started and completed, thereby reducing omissions in acquiring information for creating a map. Technology is disclosed.
On the other hand, Patent Document 2 discloses a road map update system in which an image captured while a vehicle is traveling on a new road is transmitted to a map management apparatus and road map data is updated by image analysis. Specifically, a system that can reduce the number of transmissions by transmitting the image only when the image is determined to be usable for map update based on weather information is disclosed.
See also Patent Document 3 or 4 disclosing the prior art related to the present invention.

JP 2007-212972 A JP 2008-039687 A JP 2010-230365 A JP 2010-180101 A

The present inventor has intensively studied in order to perform the running condition more efficiently. As a result, I noticed the following points.
In general, the current driving condition is provided with an in-vehicle video camera fixed to the vehicle, and map data is created from the driving image acquired by driving the link that is the target of the current driving condition (hereinafter also referred to as the target link). This is done by extracting useful information. For this reason, useful information, that is, information on traffic regulations such as road signs and character information on signboards that describe intersection names (hereinafter, sometimes simply referred to as “traffic signboards”) can be clearly contained within the imaging range. It becomes important. Although it is efficient if a running image (clear image) that can be used to create map data can be acquired in a single run, it is not easy to always acquire such a running image. This is because the clearness of the travel image depends on the travel situation at the time of actual travel.
Here, it is assumed that the acquired driving image is an available image only when the driving condition is performed under an optimal driving condition, and it is assumed that the acquired driving image is already used, and the driving condition is not optimal. If it is performed in the above, it may be a link that requires traveling again. However, even when the running condition is performed under a driving condition that is not optimal, the above-mentioned useful information can often be obtained from those running images if the same link is run a plurality of times. In such a case, it is not efficient to uniformly target the driving under the driving condition which is not optimal.
Therefore, the present inventor weights the degree of availability of the travel image acquired for each link based on the travel status at the time of the actual travel and reflects the weighted value associated with the corresponding link in the map database. Thus, the present inventors have conceived that an effective running condition can be performed by setting a target link whose reflected weight value is less than the first threshold as a target of a route search.

The present invention has been made in view of the above-mentioned problems, and the first aspect is defined as follows. That is,
A first link database that stores map data that includes information about the target link that is a target link that satisfies a predetermined condition in the first area and that is assigned a weight value;
A travel history database that accumulates travel histories that the vehicle has traveled;
Based on the travel history, a traveled link identifying unit that identifies a traveled link among the target links in the first map database;
A weighting setting unit that sets a weighting value for the traveled link based on the travel status of the identified traveled link;
A map database update unit that updates the first map database by reflecting the set weight value in the weight value assigned to the identified traveled link in the first map database;
Referring to the updated first map database, a route to a destination is searched for a route that travels on the target link of the target link whose weighted value is less than a first threshold. A route search unit to
A route search device comprising:

According to the route search device of the first aspect defined in this way, a traveled link is identified based on the travel history of the vehicle, and the travel status stored in association with the travel history corresponding to the traveled link is stored. Based on this, a weighting value is set for the traveled link. And the said map database is updated by reflecting the set weight value in the weight value provided to the object link corresponding to the run link in a map database. Furthermore, based on the weighting value assigned to the target link in the updated map database, the target link having the weighting value less than the first threshold (hereinafter also referred to as a re-running link) is included. Route search. In this way, for the target link that has been subjected to the running actual condition, weighting is performed according to the traveling state and the weighting is updated, so that the use of the traveling image is comprehensively performed based on a plurality of actual traveling conditions. It becomes possible. Therefore, it is possible to efficiently use the actual running condition. In addition, since the weighting value is updated every time the running actual tone is performed, the target link that needs to be automatically run can be specified, and the route search including the identified target link can be performed, thereby improving the efficiency of the running actual tone. Can be improved.
Here, a link is a component of road network data, and generally refers to data generated corresponding to a road connecting nodes between nodes corresponding to a road intersection or the like. The target link is a link that is a target of the current running condition among links included in a normal map database, and is selected based on, for example, a link attribute. Examples of such link attributes include road width, link type, number of lanes, route number, and the like. Specifically, a link whose road width is equal to or greater than a predetermined threshold, a link whose link type is a trunk road, a highway, a link whose number of lanes is equal to or greater than a predetermined threshold, and the like are selected as target links. The target link may be selected manually by an operator in addition to being selected based on the link attribute.

  The traveled link is a link traveled by the vehicle. Preferably, the target link that has completely run from one end point to the other end point of the target link can be identified as the traveled link (fourth aspect). According to such an apparatus, information over the entire target link can be acquired, and a more detailed map database can be created. As another example of the traveled link, a link that travels at a predetermined rate or more (for example, 50% or more) in one target link may be used as the traveled link. As another example, when a part of one target link is traveled, information indicating that the traveled part has been traveled may be given to the target link to be a traveled link. . For example, based on the coordinates where the travel history deviates from the target link, when the vehicle has already traveled to the departure point, or when the steering wheel operation is performed against the link shape of the target link, the operation is performed based on the coordinates at which the operation was performed. It is good also as having already run to the point. In this case, the weight setting unit can set a weight value based on the traveled portion in the traveled link.

  The weighting value is a value calculated on the basis of the driving situation at the time of actual driving, and the degree of availability of the driving image acquired at the time of actual driving can be expressed as, for example, a cost. The weighting value is used as an index for selecting a target link when searching for a route, such as preferentially including a target link with a low weighting value in the route. As another method of use, for example, when a travel image is disclosed as an image that is referred to by a general user, such as street view of Google Inc., a travel with a high weighting value, that is, captured in a favorable travel situation It can also be used as an index for preferentially publishing images. The traveling state can be at least one of a traveling image, the number of lanes on the road, weather, and probe information of the vehicle (fifth aspect).

The route search unit may search for a route that circulates the target link in the first area (second aspect).
Here, the cyclic route is a route for more efficiently circulating the target link existing in the first area. As such a cyclic route, for example, the target link in the area is written in one stroke. A route traveling in a manner, a route in which the number of times traveling on the same target link while traveling on more target links in the area is suppressed as much as possible, and the like.

When there are fewer re-running links within a given area, that is, when the percentage of target links to which a cost equal to or greater than the first threshold is increased, the route is searched so that only the re-running links need to be visited. Doing so would be inefficient.
Therefore, the third aspect of the present invention is defined as follows. That is,
In the route search device defined in the second aspect, a second map database that stores map data including information on a target link that satisfies a predetermined condition in the second area;
A ratio calculation unit that calculates a ratio of the target links in which the assigned weight value for the target links in the first area is equal to or greater than the first threshold;
The route search unit searches the route with reference to the updated first map database and the second map database when the calculated ratio is equal to or greater than a second threshold.
According to the route search device of the fourth aspect defined in this way, when the ratio of the target links to which the cost equal to or higher than the first threshold in the predetermined area is calculated, and the ratio is equal to or higher than the predetermined threshold Since the traveling route including the area adjacent to the area is searched, the efficiency of the current running condition is improved.

The sixth aspect of the present invention is defined as follows. That is,
A first storage step of storing, in a first map database, map data that includes information on the target link that satisfies a predetermined condition in the first area and that is assigned a weight value;
An accumulation step for accumulating the travel history of the vehicle in the travel history database;
A traveled link identifying step, wherein the traveled link identifying unit identifies a traveled link among the target links in the first map database based on the travel history;
A weighting setting step in which a weighting setting unit sets a weighting value for the traveled link based on the travel status of the identified traveled link;
The map database update unit updates the first map database by reflecting the set weight value in the weight value assigned to the identified traveled link in the first map database. A map database update step;
A route search unit refers to the updated first map database, and selects a target link that is a route to a destination and that has a weighted value less than a first threshold among the target links. A route search step for searching for a route to travel;
A route search method comprising:
According to the sixth aspect of the invention thus defined, the same effect as the first aspect can be obtained.

The seventh aspect of the present invention is defined as follows. That is,
In the method defined in the sixth aspect, in the route search step, a route that goes around the target link in the first area is searched.
According to the seventh aspect of the invention thus defined, the same effects as those of the second aspect can be achieved.

The eighth aspect of the present invention is defined as follows. That is,
In the method defined in the seventh aspect, a second storing step of storing map data including information related to a target link that satisfies a predetermined condition in the second area in a second map database;
A ratio calculating step of calculating a ratio of a target link in which the assigned weight value for the target link in the first area is equal to or greater than the first threshold;
In the route search step, when the calculated ratio is equal to or greater than a second threshold, the route is searched with reference to the updated first map database and the second map database.
According to the invention of the eighth aspect defined as described above, the same effect as that of the third aspect can be obtained.

The ninth aspect of the present invention is defined as follows. That is,
In the method defined in any one of the sixth to eighth aspects, in the traveled link specifying step, a target link that has completely run from one end point to the other end point of the target link is specified as the traveled link.
According to the ninth aspect of the invention thus defined, the same effects as in the fourth aspect can be achieved.

The tenth aspect of the present invention is defined as follows. That is,
In the method defined in any one of the sixth to ninth aspects, the traveling state is at least one of a traveling image, the number of lanes on the road, weather, and probe information of the vehicle.
According to the tenth aspect of the invention thus defined, the same effects as in the fifth aspect are achieved.

Furthermore, the eleventh aspect of the present invention is defined as follows. That is,
A computer program for searching for a route, comprising:
First storage means for storing, in a first map database, map data that includes information on a target link that satisfies a predetermined condition in the first area and that is assigned a weight value;
Accumulation means for accumulating in the travel history database the travel history of the vehicle traveling;
Based on the travel history, a traveled link identifying means for identifying a traveled link among the target links in the first map database;
A weighting setting means for setting a weighting value for the traveled link based on the travel status of the identified traveled link;
Map database update means for updating the first map database by reflecting the set weight value in the weight value assigned to the identified traveled link in the first map database;
Referring to the updated first map database, a route to a destination is searched for a route that travels on the target link of the target link whose weighted value is less than a first threshold. Route search means to
As a computer program.
According to the eleventh aspect of the invention thus defined, the same effects as in the first aspect can be achieved.

The twelfth aspect of the present invention is defined as follows. That is,
In the computer program defined in the eleventh aspect, the route search means searches for a route that goes around the target link in the first area.
According to the twelfth aspect of the invention thus defined, the same effects as those of the second aspect can be achieved.

The thirteenth aspect of the present invention is defined as follows. That is,
In the computer program defined in the twelfth aspect, the computer is further
Second storage means for storing map data including information related to a target link satisfying a predetermined condition in the second area in a second map database;
Function as a ratio calculation means for calculating a ratio of the target link in which the assigned weight value for the target link in the first area is equal to or greater than the first threshold;
The route search means searches for the route with reference to the updated first map database and the second map database when the calculated ratio is equal to or greater than a second threshold.
According to the thirteenth aspect of the invention thus defined, the same effects as those of the third aspect are achieved.

The fourteenth aspect of the present invention is defined as follows. That is,
In the computer program defined in any one of the 11th to 13th aspects, the traveled link specifying means specifies a target link that has completely run from one end point to the other end point of the target link as the traveled link. .
According to the fourteenth aspect of the invention thus defined, the same effects as in the fourth aspect can be achieved.

The fifteenth aspect of the present invention is defined as follows. That is,
In the computer program defined in any one of the eleventh to fourteenth aspects, the traveling state is at least one of a traveling image, the number of road lanes, weather, and probe information of the vehicle.

  A recording medium for recording the computer program defined in any one of the 11th to 15th aspects is defined as the 16th aspect.

FIG. 1 is a block diagram showing a configuration of a route search apparatus 1 according to an embodiment of the present invention. FIG. 2 is a flowchart illustrating an example of the operation of the route search apparatus 1 according to the embodiment of this invention. FIG. 3 shows (A) map data stored in the first map database 3, (B) travel history data stored in the travel history database 5, and (C) updated first map database. 3 is a schematic diagram for explaining map data stored in 3. FIG. FIG. 4 is a block diagram showing a configuration of the route search apparatus 21 according to another embodiment of the present invention. FIG. 5 is a flowchart showing an example of the operation of the route search apparatus 21 according to another embodiment of the present invention. FIG. 6 shows (A) map data stored in the first map database 3, (B) travel history data stored in the travel history database 5, and (C) updated first map database 3. It is a schematic diagram for demonstrating the map data stored in 2 and the map data stored in the 2nd map database 23. FIG. FIG. 7 is a block diagram showing the configuration of the mobile terminal device 51 according to the embodiment of the present invention.

A route search apparatus according to an embodiment of the present invention will be described.
FIG. 1 shows a schematic configuration of the route search apparatus 1. This will be described below with reference to the schematic diagram shown in FIG.
As shown in FIG. 1, the route search device 1 includes a first map database 3, a travel history database 5, a traveled link identification unit 7, a weight setting unit 9, a map database update unit 11, and a route search unit 13. ing.

The first map database 3 stores map data for searching for a route, and includes map data including information relating to a link including a target link in the first area (see FIG. 3A). ). The first map database 3 can be created by applying the above-mentioned criteria to a normal map database. Specifically, it is created by assigning a cost as the weighting value to a link in a normal map database. In FIG. 3A, the cost given to the link is shown in parentheses. For example, the cost given to L ₁₁ is zero. In this example, a target link to be searched by a route search unit to be described later is a link whose cost is less than 1 (less than the first threshold), and the link is represented by a thick line (L _{11 to} L ₂₂ ). Further, by assigning a high value cost (for example, cost ∞) to links other than the target link, the priority as a link selected at the time of route search can be lowered. When such a first map database is used, the target link is substantially selected as a route target. In addition, even if data indicating “unrunning” or “running times 0” is input to the target link stored in the first map database 3 by default, good.

The traveling history database 5 stores traveling histories that the vehicle has traveled (see FIG. 3B). In the travel history database 5, for example, based on the probe information of the vehicle, the history R _{1 to} R _{10 of} each link traveled by the vehicle is accumulated. The history of each link may include travel date and time, travel speed, traveled lane, and the like. As another example, the history of each link may be associated with a traveling image (traveling image data) acquired by an imaging device (not shown) attached to the vehicle. The travel image data is preferably composed of a plurality of temporally continuous frame images. Here, the installation direction and the angle of the imaging device attached to the vehicle are not particularly limited as long as the character display of the traffic sign and the traffic regulation sign can be captured in the traveling image. For example, it is preferable to install the camera so as to photograph the traveling direction, or install the photographing so that the direction opposite to the traveling direction can be photographed. Further, a plurality of imaging devices may be installed so that the traveling direction and both the traveling direction and the opposite direction can be photographed. As yet another example, the weather during traveling acquired as external information or the like may be associated. The travel histories R _{1 to} R ₁₀ of each link can be represented, for example, as dotted lines in FIG.

  The traveled link specifying unit 7 specifies a traveled link among the target links in the first map database based on the travel history accumulated in the travel history database 5. The method for specifying the traveled link is not particularly limited, but a part of the target link, for example, one that has traveled more than half, can be identified as the traveled link. As another example, the part that has run from one end point of the target link to the other end point is specified as the above-mentioned traveled link, or even if the target link is not completed It may be specified that the vehicle has already traveled.

  The weight setting unit 9 sets a weight value for the traveled link based on the travel status of the traveled link specified by the traveled link specifying unit 7. As the setting method, for example, when it is determined that the image acquired by the current tone can be used based on the driving situation at the time of the current tone, the cost 1 is set because it is not necessary to run again. On the other hand, if there is a possibility that the desired information is not shown in the acquired image, or the desired information is shown but not clear, based on the driving situation at the time of the current adjustment, the current For example, a value of less than 1 (such as 0.1) is set as a cost so that rerunning is not required only by the above. The set cost can be set in a stepwise manner according to the degree of the driving situation. A traveling situation referred to when setting the weighting value is not particularly limited, and examples thereof include a traveling image, the number of lanes on the road, weather, probe information on the current vehicle, and elapsed time. The weighting setting unit 9 may set a weighting value using one of these driving situations, or may set a weighting value by combining two or more driving situations. When using two or more driving situations, a total weighting value may be set by adding the weighting values obtained based on the respective driving situations, and in order to reflect the importance of the driving situation, respectively. An overall weighting value may be set by appropriately multiplying the weighting value obtained based on the traveling state of the vehicle by a coefficient. The details of the above-described traveling situation are shown below.

(Running image)
For example, if there are large vehicles before or after the current vehicle, or if the surroundings are dim, such as at night or overcast, or if the light is reflected in the image due to backlighting, etc., it will appear in the acquired image. There is a low possibility that the signs and intersection names intended for the key will be clearly reflected. In view of this, when there is no change in the acquired image or when the change is small, using the change in the image as an index, the possibility that an available image can be acquired is low. Specifically, when a running image acquired at the current tone is subjected to image processing and a predetermined condition is satisfied, the image is an available image from the viewpoint of imaging information. Cost 1 can be set as On the other hand, if the predetermined condition is not satisfied, it is unlikely that the image can be used, and for example, a value less than 1 (such as 0.1) can be set as the cost. The cost may be increased or decreased in a stepwise manner depending on the brightness or the brightness level. Regarding this point, refer to the specification of Japanese Patent Application No. 2013-254058 and the drawings by the present applicant.
The determination as to whether or not the image is an available image may be made for the entire running image or for a part thereof. For example, it is possible to determine that the image is a usable image if the image processing is performed on a region where the current target is reflected in the traveling image and the result satisfies the predetermined condition. Specifically, when the current target is an intersection name, the intersection signboard is reflected in the upper area in the travel image, and when the current target is traffic regulation, the road sign is displayed in the left area in the travel image. There is a high possibility of moving in. In such a case, it is determined whether the image can be used based on the image processing result of the area corresponding to the current tone target. This is because it is sufficient to obtain desired information if the image of the area corresponding to the current tone target is clear.

(Number of road lanes)
Even a road that has been traveled by performing the actual running is not necessarily traveling in an appropriate lane from the viewpoint of obtaining available images, depending on the number of lanes on the road. In the case of a road with a large number of lanes, that is, a road with a large width, there is a possibility that desired information such as road signs and intersection names may not be included in the image depending on the lane in which the vehicle is traveling. Therefore, at the time of actual purchase, a cost of 1 can be set when traveling in a lane suitable for the lane number attribute and the like, and a cost of less than 1 can be set as appropriate in other cases.

(the weather)
In weather such as rainy weather or cloudy weather, it is difficult to obtain an image in which information such as road signs and intersection names are clearly captured even if the current tone is used. Therefore, based on the weather at the time of running, it is possible to set a cost 1 when a clear image such as a clear sky can be acquired, and to set a cost less than 1 in other cases. The cost may be set in stages according to the brightness outside the vehicle. Such weather information may be acquired from the outside, or may be determined based on information obtained from a rain detector or a sunshine meter provided in the vehicle.

(Vehicle probe information)
For example, when the vehicle speed of the current vehicle is high, there is a possibility that the acquired image is disturbed and blurring occurs. Further, when the traveling time is evening, night, or early morning, there is a low possibility that a good image can be acquired with the area still dim or completely dark. For this reason, when the vehicle travels at a vehicle speed equal to or higher than a predetermined threshold (for example, 60 km / h or higher), or when the travel time is within a predetermined range (between 18: 00 and 6:00), a value less than 1 is set as a cost. Can be set as On the other hand, when the vehicle speed is less than the predetermined threshold value or when the traveling time is out of the predetermined range, the cost 1 can be set. The cost may be increased or decreased in a stepwise manner based on the speed and time when traveling.
As another example, when an in-vehicle video camera of a vehicle stopped at an intersection is used to shoot a traffic signal sign ahead, if the width of the intersection is wide, the distance to the signal sign is large and the character information on the signal sign becomes unclear. There is a case. In such a case, even when taking an image when turning right or left at the intersection, there is a possibility that the character information on the traffic signboard cannot be obtained as clearly as possible because the distance from the intersection center to the traffic signal is long. At such an intersection, if the vehicle travels straight ahead so that the vehicle is sufficiently close to the traffic light, there is a high possibility that the character information on the front traffic signboard can be clearly captured. Therefore, when the intersection width is wide, that is, when the distance to the forward traffic signal is large, the cost is 1 when traveling straight with reference to the traveling history of the vehicle, and the cost less than 1 as appropriate in other cases. Can be set. Regarding this point, refer to the specification of Japanese Patent Application No. 2013-248160 and the drawings by the present applicant. Further, the cost may be set as appropriate even when the character information of the traffic light sign can be imaged by imaging the rear of the vehicle.

(elapsed time)
For example, when it has been a long time since the previous actual adjustment of the traveled link, there is a possibility that a road sign, an intersection name, or the like has been changed due to secular change. Therefore, when a predetermined period has elapsed since the previous actual tone, the weight value can be set so as to cancel the weight value given before the previous actual tone. For example, a negative value (such as −1) may be set as the cost.
On the other hand, when the current tone is within a predetermined period from the previous tone, it is not necessary to assign a weight value. As described above, when the cost is set to −1 when the predetermined period has elapsed since the previous actual adjustment, the cost may be set to zero.

  The map database update unit 11 reflects the weighting value set by the weighting setting unit 9 on the weighting value assigned to the identified traveled link in the first map database. The database is updated (see FIG. 3C). As a method of reflecting the weighting value, the weighting value set by the weighting setting unit 9 can be added to the weighting value already assigned. As another example, the weighting value set by the weighting setting unit 9 is compared with the weighting value associated with the corresponding target link in the first map database 3, and the set weighting value is larger. In this case, the map database may be updated by replacing the travel image already associated with the target link with the travel image associated with the set weight value.

  The route search unit 13 refers to the first map database 3 and includes a target link which is a route to the destination and whose cost given to the target link is less than 1 (less than the first threshold). Search for a route. As the search method, in particular, it is possible to search for a route that preferentially travels a target link with a low cost. The route search unit 13 may search for a tour route in order to visit the re-run link required in the first map database 3. As the search method, for example, it is possible to search for a route that can travel on the re-run link in the manner of one stroke. Of course, the patrol route may include a target link other than the restart required link and a link other than the target link. The route search unit 13 searches for a circular route as indicated by a dotted line in FIG.

An example of the operation of the route search apparatus 1 shown in FIG. 1 will be described with reference to FIG.
First, in step 1, a travel history acquisition unit (not shown) acquires the travel histories R _{1 to} R ₁₀ of the vehicle and stores them in the travel history database 5 in association with the travel status acquired during the travel. An example of the accumulated travel histories R _{1 to} R ₁₀ is shown in FIG.
In step 3, the traveling Linked specifying section 7 refers to the first map database 3, and extracts the target link L _m corresponding to the travel history R _n obtained in step 1. For example, the target link L ₁₁ is extracted as a target link corresponding to the travel history R _1.
In step 5, the traveled link specifying unit 7 determines whether or not the travel history R _n acquired in step 1 has completely traveled between both end points of the target link L _{m in} step 3. If yes in step 5, proceed to step 7. For example, since the extracted travel history R ₁ travels from one end point of the target link L _{11 to} the other end point, the process proceeds to step 7. On the other hand, if the travel history does not complete between the end points of the corresponding target link, the process proceeds to step 13.

In step 7, the traveling Linked specifying section 7 specifies the running Linked the target link L _m which is extracted in step 3.
In step 9, the weight setting unit 9 calculates the cost based on the travel situation associated with the travel history R _n of step 1. For example, it is possible to compare continuous traveling images associated with the traveling history and calculate the cost according to the amount of change in luminance. For example, the cost 1 can be set when the luminance change amount is equal to or greater than a predetermined threshold, and the cost 0.1 can be set when the luminance change amount is less than the predetermined threshold.
In step 11, the map database update unit 11 adds the cost calculated in step 9 to the cost assigned to the target link L _m in step 5 in the first map database 3, thereby adding the first map. Update the database.

For travel history _{R n + 1} subsequent to the travel history _{R n,} executes steps 3 9 (step 13, 15).
In step 17, the route search unit 13 searches for a patrol route with reference to the first map database 3 updated by executing step 11. In other words, in the updated first map database 3, in order to circulate the target links L ₁₂ , L ₁₃ , L ₁₄ , L ₁₅ , L ₁₈ , L ₁₉ , L ₂₂ whose assigned cost is less than 1, For example, in FIG. 3C, a circular route as indicated by a dotted line is searched. In this example, when there is a link that needs to be re-run after traveling on the patrol route, a new patrol route may be searched to travel the link. It is good also as carrying out route search so that it can go around together with the object link of an adjacent area so that it may be performed in 21.

FIG. 4 shows a route search device 21 according to another embodiment. 4, the same elements as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is partially omitted.
FIG. 4 shows a target link that is less than the first threshold in a predetermined area, that is, when there are few re-running links, a re-running link in the area and a target link in an area adjacent to the area. And a route search device 21 capable of searching for a circular route. That is, the device 21 further includes a second map database 23 and a ratio calculation unit 25 in the device 1 shown in FIG. 1, and includes a cyclic route search unit 27 instead of the route search unit 13.

The second map database 23 stores map data for searching for a patrol route, and includes map data including information regarding the target link in the second area adjacent to the first area. The second area only needs to be adjacent to the first area, and it is not necessary that the links in both areas are directly connected, and even if the links in both areas overlap. good. The second map database 23 may be updated by the same method as the first map database 3.
The ratio calculation unit 25 refers to the updated first map database 3 and calculates the ratio of the target links other than the re-running link with respect to all the target links in the first area. As the calculation method, for example, it is possible to calculate the ratio of the number of links other than the restart required link to the number of links of all the target links in the first area. As another example, the ratio of the total distance of links other than the restart required link to the total distance of all target links in the first area may be calculated.

When the ratio calculated by the ratio calculation unit 25 is equal to or greater than a predetermined threshold, the cyclic route search unit 27 refers to the updated first map database 3 and second map database 23 and searches for a cyclic route. Explore. The search method is not particularly limited, and can be performed in the same manner as the route search unit 13. In particular, the traveling route search unit 27 may preferentially circulate the target link (restart required link) in the first map database 3 in which the ratio of the restart required link is smaller. . The predetermined threshold can be set to 80% or more, for example.
A route search system that allows some of the components of the route search device 21 to be executed by a server device may be used. The configuration executable by the server device is not particularly limited. For example, the map database update unit 11, the ratio calculation unit 25, and the traveling route search unit 27 can be used. By centrally managing the server device, the map database can be updated in a batch based on the traveling histories of different vehicles, and an efficient patrol route can be searched.

An example of the operation of the route search device 21 shown in FIG. 4 will be described with reference to FIG.
Since Steps 21 to 35 are the same as Steps 1 to 15, description thereof is omitted.
In step 37, the ratio calculation unit 25 calculates the total distance of all target links in the first map database 3.
In subsequent step 39, the ratio calculation unit 25 calculates the total distance of the target links whose assigned cost is 1 or more among the target links in the first map database 3.
In step 41, the ratio calculation unit 25 calculates the ratio of the target links in step 39 to all the target links based on the calculation results in steps 37 and 39. As a result of the calculation, when the ratio of the target links in step 39 is 80% or more (step 43: Yes), the process proceeds to step 45.

In step 47, the traveling route searching unit 27 refers to the updated first map database 3 and the second map database 23, and the target link having a cost less than 1 in the first area) and the first map Search for a patrol route in order to circulate the target link that is less than cost 1 in the area 2. That is, in the first map database 3 is updated, in order to cycle through the target link L _15, L _19, for example, in FIG. 6 (C), searches for a patrol route as shown by a dotted line.
On the other hand, if No in step 43, the process proceeds to step 47.
In step 47, the tour route searching unit 27 searches the tour route to refer to the target link having a cost less than 1 in the first area with reference to the updated first map database 3.

FIG. 7 shows a mobile terminal device 51 of the embodiment. In FIG. 7, the same elements as those in FIGS. 1 and 4 are denoted by the same reference numerals, and the description thereof is partially omitted.
FIG. 7 shows a mobile terminal device 51 including the device 21 shown in FIG. The mobile terminal device 51 includes a control unit 510, a memory unit 511, an input unit 512, an output unit 513, an interface unit 514, a terminal position specifying unit 515, a probe information acquisition unit 516, a first map database 3, and a second A map database 23, a travel history database 5, a traveled link identification unit 7, a weight setting unit 9, a ratio calculation unit 25, a map database update unit 11, and a traveling route search unit 27 are provided.

The control unit 510 is a computer device including a CPU, a buffer memory, and other devices, and controls other elements constituting the mobile terminal device 51.
A computer program is stored in the memory unit 511, and the computer program is read into the control unit 510, which is a computer device, and causes it to function. This computer program includes an internal hard disk or internal memory as a storage device of a mobile terminal device, an SD (registered trademark) memory card, a memory stick, a smart media, a compact flash (registered) as a storage medium replaceable with the mobile terminal device. Trademark), DVD, and other general-purpose media.
The input unit 512 is used for inputting a user command, for example. Specifically, it is used for inputting a destination or the like in the route search. As the input unit 512, a pointing device such as a touch panel that cooperates with the display content of a mouse, a light pen, or a display, or a voice input device such as a keyboard or a microphone can be used.

The output unit 513 includes a display, such as the position of the terminal device specified by the terminal position specifying unit 515 described later, the cyclic route searched by the cyclic route search unit 27, the display of the target link and the restart link required, etc. Display information. The output unit 513 can include a voice transmission unit.
The interface unit 514 connects the mobile terminal device 51 to a wireless network or the like.
The terminal location specifying unit 515 specifies the current location information of the terminal device using a GPS device or a gyro device. In addition, the current time can be specified.
The probe information acquisition unit 516 acquires vehicle probe information. The probe information acquisition unit 516 may acquire probe information transmitted from vehicles connected wirelessly via a network, or may be temporarily stored in a memory in the vehicle and obtained directly or via a wire. It is good also as acquiring probe information. The probe information includes at least coordinate information and ID information for specifying the probe car. Such information can be specified if the vehicle has a position detection function such as GPS. Furthermore, time information, speed information, heading information, altitude information, accelerator opening, engine speed, longitudinal acceleration, yaw rate, stop lamp, ABS warning lamp, fuel consumption, remaining power capacity, rudder angle (steering wheel rotation angle information) ), Shift lever information or the like.

  Although the embodiments and examples of the present invention have been described above, two or more of the embodiments (examples) may be combined and implemented. Alternatively, one of these embodiments (examples) may be partially implemented. Furthermore, among these, two or more embodiments (examples) may be partially combined.

  The present invention is not limited to the description of the embodiments and examples of the invention described above. Various modifications may be included in the present invention as long as those skilled in the art can easily conceive without departing from the description of the scope of claims.

1 21 Route Search Device 3 23 Map Database (Map DB)
5 Travel history database (travel history DB)
7 Traveled link identification unit 9 Weight setting unit 11 Map database update unit (map DB update unit)
13 route search unit 25 ratio calculation unit

Claims (13)

In a route search device for searching for a tour route for traveling a target link satisfying a predetermined condition by a vehicle,
A put that Target linked to the first area, the first map database for storing map data including information on the target link weighted value is assigned,
A travel history database that accumulates travel histories that the vehicle has traveled;
Based on the travel history, a traveled link identifying unit that identifies a traveled link among the target links in the first map database;
A weighting setting unit that sets a weighting value for the traveled link based on the travel status of the identified traveled link;
A map database update unit that updates the first map database by reflecting the set weight value in the weight value assigned to the identified traveled link in the first map database;
With reference to the first map database that is the update, and the route searching unit for searching the patrol route for traveling target link is prior Symbol the assigned weighting value is less than the first threshold value of the target link,
A route search device comprising: A second map database storing map data including information on the target link in a second area adjacent to the first area;
A ratio calculation unit that calculates a ratio of the target links in which the assigned weight value for the target links in the first area is equal to or greater than the first threshold;
The route search unit, when the calculated ratio is equal to or greater than a second threshold, refers to the updated first map database and the second map database, and searches for the cyclic route;
The route search device according to claim 1 . The traveled link specifying unit specifies the target link that has completed the run from one end point of the target link to the other end point as the traveled link,
The route search device according to claim 1 or 2 . The traveling state is at least one of a traveling image, the number of lanes on the road, weather, and probe information of the vehicle.
The route search apparatus as described in any one of Claims 1-3 . In a route search method for searching for a tour route for visiting a target link that satisfies a predetermined condition by a vehicle,
A put that Target linked to the first area, a first storage step of storing map data including information on the target link weighted value is applied to the first map database,
An accumulation step for accumulating the travel history of the vehicle in the travel history database;
A traveled link identifying step, wherein the traveled link identifying unit identifies a traveled link among the target links in the first map database based on the travel history;
A weighting setting step in which a weighting setting unit sets a weighting value for the traveled link based on the travel status of the identified traveled link;
The map database update unit updates the first map database by reflecting the set weight value in the weight value assigned to the identified traveled link in the first map database. A map database update step;
The route search unit, with reference to the first map database that is the update, the assigned weighting values of the previous SL target link to search the patrol route to be an object link is less than the first threshold value A route search step;
A route search method comprising: A second storage step of storing, in a second map database, map data including information relating to a target link that satisfies a predetermined condition in a second area adjacent to the first area;
A ratio calculating step of calculating a ratio of a target link in which the assigned weight value for the target link in the first area is equal to or greater than the first threshold;
In the route searching step, when the ratio of the calculated is not smaller than the second threshold value, by referring to the first map database and said second map database that is the update to search the patrol route,
The route search method according to claim 5 . In the traveled link specifying step, the target link that has completely run from one end point of the target link to the other end point is specified as the traveled link.
The route search method according to claim 5 or 6 . The traveling state is at least one of a traveling image, the number of lanes on the road, weather, and probe information of the vehicle.
The route search method as described in any one of Claims 5-7 . A computer program for searching a patrol route for patrol a target link that satisfies a predetermined condition by a vehicle ,
A put that Target linked to the first area, a first storage unit that stores map data including information on the target link weighted value is applied to the first map database,
Accumulation means for accumulating in the travel history database the travel history of the vehicle traveling;
Based on the travel history, a traveled link identifying means for identifying a traveled link among the target links in the first map database;
A weighting setting means for setting a weighting value for the traveled link based on the travel status of the identified traveled link;
Map database update means for updating the first map database by reflecting the set weight value in the weight value assigned to the identified traveled link in the first map database;
The reference to the updated first map database, route searching means the granted weighting value is searched the patrol route for traveling target link is less than the first threshold value of the prior SL target link,
As a computer program. Said computer further
Second storage means for storing, in a second map database, map data including information relating to a target link that satisfies a predetermined condition in a second area adjacent to the first area;
Function as a ratio calculation means for calculating a ratio of the target link in which the assigned weight value for the target link in the first area is equal to or greater than the first threshold;
The route search means, when the calculated ratio is equal to or greater than a second threshold, refers to the updated first map database and the second map database to search for the cyclic route;
The computer program according to claim 9 . The traveled link specifying means specifies the target link that has completed the travel from one end point of the target link to the other end point as the traveled link,
The computer program according to claim 9 or 10 . The traveling state is at least one of a traveling image, the number of lanes on the road, weather, and probe information of the vehicle.
The computer program as described in any one of Claims 9-11 . The recording medium which records the computer program in any one of Claims 9-12 .

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