JP2004325777A - Road information system of on-vehicle navigation and road information measurement method therefor, road surface altitude value measurement system, and navigation using the same system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for measuring the actual states of roads accurately and easily in a short time as a road altitude database meeting requirements for use, a road surface altitude value measurement system therefor, and a navigation system using the system. <P>SOLUTION: The system consists of: a road altitude value managing computer 30 of a map information management company; a computer 1 of a public geographical information institution which provides the altitude value measurement data of the whole country; a high-precision road altitude measuring vehicle 10 which is equipped with a vehicle position measuring instrument, a tilt sensor, and a travel distance measuring instrument to measure the positions and tilt angles of the road during a travel and which is also mounted with a computer for recording data thereof; and a user vehicle equipped with a vehicle position measuring instrument, a tilt sensor, and an on-vehicle computer 20 for control which receive (download) a reference point altitude/attribute database prepared by the road altitude value managing computer 30 according to measured and recorded data to navigate the driver or automatically control the vehicle. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a road information system for on-vehicle navigation, a road information measuring method thereof, and a road surface elevation value measuring system and navigation using the system.
[0002]
[Prior art]
Conventionally, data on the elevation or gradient of the road surface has not been provided and maintained as a database because it is difficult to measure the data with high accuracy. However, since the gradient of the road surface is an important factor in the overall control of the running state of the automobile, the invention for obtaining the gradient during traveling has been made. Patent Literature 1 proposes a method of detecting a road gradient from values of engine torque and acceleration. Further, in Patent Document 2, information on absolute coordinates and altitude values from satellites is received and registered in advance in road data storage means for each intersection, and the altitude of the intersection and the next intersection after the section is read out. There is disclosed a gradient detecting device that calculates an altitude difference from a distance of a current position in a vehicle to obtain a gradient. However, there is a problem that the elevation measurement data from the satellite has a large error and it is difficult to obtain a correct gradient. In addition, there is a problem that the record of each intersection and the point where the inclination of the road changes are often different, and there is a problem that elevation data from a satellite cannot be used on a tunnel or an elevated road.
[0003]
Patent Literature 3 discloses a navigation device provided with an elevation value acquisition method for solving an error of an elevation value obtained by a global positioning system (GPS) using a radio wave from a positioning satellite. However, from the elevation value of the mesh unit (50 meters, etc.) provided by the public geographic information provider, the elevation information of the mesh close to the current position is searched, and the elevation is calculated from the elevation value and distance in the vicinity. However, there was a problem that it could not be calculated in an elevated or underground or tunnel. Patent Literature 4 “3D CG map display device and in-vehicle navigation device” and Patent Literature 5 “Road gradient calculation device” also calculate the elevation of a road from elevation data partitioned by a map mesh published by the Geospatial Information Authority of Japan. There is a similar problem because it is required to determine the slope.
[0004]
Patent Document 6 discloses a technique of displaying in advance a terrain image corresponding to a terrain change on a traveling route. However, it is determined whether or not there is an elevation difference equal to or more than a predetermined value ahead of a vehicle position by a predetermined distance. There is no disclosure of a method for obtaining road information map data including elevation information to be used for GPS. Further, a method for adding height information to two-dimensional map information is disclosed in "Map information creation device and map information display device using the same" in Patent Document 7, but attribute information of crossing or parallel roads is disclosed. It is a method of adding height information from the road, and cannot provide an accurate elevation or inclination of a road.
[0005]
[Patent Document 1]
Japanese Patent Laid-Open Publication No. Hei 3-90808 (Pages 1, 2 and 1)
[Patent Document 2]
Japanese Patent Application Laid-Open No. Hei 8-304069 (pages 2, 3, 4; FIG. 1)
[Patent Document 3]
Japanese Patent Application Laid-Open No. 9-304089 (pages 2, 3, 4; FIG. 7)
[Patent Document 4]
JP-A-10-187029 (pages 2, 3, 4 and FIG. 4)
[Patent Document 5]
JP 2001-50743 A (pages 2, 3 and FIG. 2)
[Patent Document 6]
JP-A-2002-195841 (pages 2, 3; FIG. 1)
[Patent Document 7]
JP 2001-305953 A (pages 2, 3, and 4; FIG. 10)
[0006]
[Problems to be solved by the invention]
SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and provides a road elevation database that satisfies the requirements for use of the actual condition of a road as a measurement method for accurately and easily measuring a road surface in a short time. A system and a navigation system using the system are provided.
[0007]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, a road information system for on-vehicle navigation according to the present invention is a vehicle-mounted navigation system including a road map information database and a global positioning system (GPS) receiving terminal. A plurality of primary reference points where the road surface is in contact with the ground from among the start point, the end point, and the intermediate point, and the elevation value of the road surface is determined by terrain survey with little change in inclination, A reference point set at or near the horizontal change start point (inflection point) and composed of a plurality of secondary reference points for which the relative elevation has been calculated by measuring the inclination angle and distance from the primary reference point. Is provided with road surface inclination value information, elevation value information, and road attribute information for each of the coordinates (latitude / longitude).
[0008]
The road attribute information includes at least a road name, an intersection name, an intersection angle, a branch point name, and a branch angle. The road attribute information includes a road name, an intersection name, an intersection angle, a branch point name, a branch angle, and at least a grounding state class ( It is characterized by attribute codes of flat terrain, embankment, underground), elevated section (height above ground, level), tunnel section (mountain, underground, above ground), right and left road wall section, and median strip section.
[0009]
The inclination value information includes, in addition to the inclination angle formed by the road at the reference point with respect to the horizontal direction toward the traveling direction of the road at the reference point, the inclination angle of the road surface in the transverse direction of the road and the ground axis in the road traveling direction. And a relative angle (azimuth) with respect to.
[0010]
The road information measuring method according to the present invention measures and collects, as road information, an elevation value, a slope value, and road attribute information for each coordinate of a starting point, an end point, and a reference point including a plurality of intermediate points provided therebetween. A way to
A plurality of points where the road surface is in contact with the ground and the change in inclination is small are selected as primary reference points from among the starting point, the end point, and the intermediate points of the measurement target road in advance, and the elevation values and the known elevation values obtained by topographical surveying are selected. A primary reference point information collecting step of recording the road attribute information in a reference point elevation / attribute database;
A measuring vehicle equipped with a GPS, a tilt sensor, and an in-vehicle computer that collects measurement results in real time, travels on a road to be measured, and measures the tilt angle of the point each time the vehicle reaches the set primary reference point. At the same time, at regular time intervals, the traveling distance from the primary reference point at the time of the immediately preceding measurement, the GPS positioning coordinates of the current position, the direction of the measuring vehicle, and the inclination angle of the point are measured. A road actual measurement data collection step of calculating the relative elevation from the immediately preceding measurement point from the inclination angle, and recording the measured value of the traveling distance and the inclination angle and the relative elevation calculation result as road surface elevation measurement data,
During traveling of the measuring vehicle, if there is a route whose road attribute information is not registered in the primary reference point database in parallel with the above-mentioned actual road measurement data collection, or collected from the topographical survey map in the primary reference point information collection step. If there is a route that differs from the current road attribute information and the current status, the grounding status classification (flatland, embankment, underground), elevated section (ground level, hierarchy), tunnel section (mountain, underground, ground), left and right road of the route A road attribute recording step of recording, as road attribute information collection data, a change in road attribute for each change point of road attribute including a wall section, a median strip section, and a start / end road attribute change point such as intersection / branch;
When the measuring vehicle passes the primary reference point, the absolute elevation data of the primary reference point recorded in advance in the reference point elevation / attribute database is searched, and the relative elevation calculation value is replaced with the absolute elevation value. A step of calculating a corrected altitude obtained by correcting the difference by weighting the difference with a function of the distance from the immediately preceding primary reference point to obtain a corrected altitude, and recording the corrected altitude as road elevation measurement data; When,
After the measurement of the fixed route, the road surface elevation measurement data is read out sequentially in the order of the measurement, and the point at which the change in the inclination angle is small, or the inflection point of the inclination angle which is equal to or more than a certain, the inflection point of the direction, and the inflection point of the road attribute As a secondary reference point, and a road elevation data editing step of recording the measured inclination angle, corrected elevation value, and road attribute information in the reference point elevation / attribute database in addition to the primary reference point. I do.
[0011]
The tilt sensor may be a mechanical sensor, a magnetic sensor, a gyro sensor, an electrostatic sensor, an electrolytic sensor, a piezoelectric sensor, or a combination of any of the optical sensors, and may be configured to measure the vehicle in advance. Calibration on the horizontal surface is performed in the loaded state at the time of measurement, and then measurement is performed. During travel measurement, inclination angle measurement is performed once or multiple times per second, and the average value or variance analysis, weighted minimum It is characterized in that a measurement value in which measurement noise is canceled by performing statistical processing by a multiplication method or the like is recorded.
[0012]
Further, the travel distance is characterized by using a movement distance from a immediately preceding measurement value by GPS or a measurement value by a distance meter linked to wheel rotation.
[0013]
The road surface elevation value measurement system of the present invention is a road elevation measurement system that measures road elevation value information and distributes the database so that it can be used,
A computer of a public geographic information agency that provides elevation survey data nationwide, a road elevation management computer of a map information management company that can obtain geographic information via a recording medium or a computer network, and a communication line including a computer network High-precision equipped with a computer that has at least a vehicle position measurement device (GPS), a tilt sensor, and a mileage measurement device and that measures the position and inclination angle of the road while traveling with high accuracy and records the data. Road elevation measurement vehicles,
A vehicle position measurement device (GPS) for providing navigation to a driver or automatically controlling a vehicle by providing (distributing) a reference point elevation / attribute database created by a road elevation value management computer based on measured and recorded data; It is composed of a user vehicle having at least a tilt sensor and an on-vehicle computer for control,
The road elevation value management computer receives a road elevation measurement data via a recording medium or a computer network, and corrects and edits the data to create a road elevation information database; and a road elevation / attribute database. And a database server that records
The road surface elevation value management server previously selects, as primary reference points, a plurality of points where the road surface is in contact with the ground and the change in inclination is small, from among the start start point, end point, and intermediate points of the road to be measured. The known elevation values and road attributes are recorded in a primary reference point database by topographic survey from a road map information database obtained from a computer of a public geographic information agency or a computer of a map information management company, and the high-precision road elevation measurement is performed. A primary reference point setting registration / distribution means for delivering in response to a request from a primary reference point data database of a road to be measured from a vehicle;
An altitude attribute measurement data receiving / registering unit that receives road altitude attribute measurement data and road attribute information collection data measured by actual traveling from a high-precision road altitude measurement vehicle and records the data in a road altitude attribute measurement database;
Correction of the measurement noise to the received measurement data, search for the absolute elevation data of the primary reference point, replace the relative elevation calculation value with the absolute elevation value, and if there is a difference between the relative elevation calculation result, Measurement data correction / registration means for obtaining a corrected elevation obtained by weighting the difference with a function of the distance from the immediately preceding primary reference point and recording the corrected elevation as road surface elevation measurement data;
The road surface elevation measurement data is sequentially read out in the measurement order, and a point with a small change in inclination angle, an inflection point with an inclination angle of a certain angle or more, an inflection point in direction and an inflection point in road attribute are extracted as secondary reference points. Secondary reference point extraction road surface elevation value registration means for recording the measured inclination angle, corrected elevation value, and road attribute information in the reference point elevation / attribute database in addition to the primary reference point;
Road surface elevation database distribution means for distributing the created reference point elevation / attribute database as data usable by a user's navigation system or vehicle control system via a computer network or providing the data as a recording medium. I do.
[0014]
The computer of the high-precision road elevation measurement vehicle includes an input port for receiving data from a vehicle position measurement device (GPS), a tilt sensor, an odometer, and road attribute input means, and a measurement control device for processing the data. , A data recording device for recording the processing result of the data,
The measurement control device acquires a primary reference point database registered in advance in a computer of a map information management company via a recording medium or a computer network, and registers the primary reference point data in a data recording device;
Position / inclination measurement registration means for recording the current position from the GPS and the measurement result of the road inclination angle at that point as road surface elevation measurement data at fixed time intervals;
Distance / altitude calculation registration means for calculating the relative altitude from the immediately preceding measurement point from the travel distance and the inclination angle from the point at the time of the last measurement, and recording the travel distance and the relative elevation calculation result as road surface elevation measurement data,
When the current position reaches the pre-registered primary reference point, the absolute elevation data in the primary reference point database is searched, the relative altitude calculation value is replaced with the absolute altitude value, and a difference is obtained from the relative altitude calculation result. In this case, a primary reference point identifying / correcting means for obtaining a corrected altitude obtained by weighting the difference with a function of a distance from the immediately preceding primary reference point and recording the difference as road surface elevation measurement data;
During traveling, in parallel with the actual road measurement data collection, if there is a route for which the road attribute information is not registered in the primary reference point database, a grounding condition classification (flat ground, embankment, underground), an elevated classification (ground height, Input from the road attribute input means for each change point of the road attribute including the change of the road attribute including the hierarchy section), the tunnel section (mountain, underground, above ground), the left and right road wall section, the median strip section and the start / end of the intersection / branch. Attribute information recording means for recording the change of the road attribute as road attribute information collection data,
An altitude attribute measurement data transmission means for transmitting the road elevation measurement data and the road attribute information collection data to the road elevation management computer of the map information management company via a recording medium or a computer network after the measurement is completed.
[0015]
The navigation using the road surface elevation measurement system of the present invention includes a vehicle position measurement device (GPS), a tilt sensor, an odometer, input ports from those devices, and control for processing input data. A navigation system comprising an in-vehicle computer having a device and a map information data recording device,
The data recording device includes a reference point elevation / attribute database provided or distributed from a map information management company in addition to a general road map information database,
The control device includes a vehicle position measurement device (GPS), position information from a tilt sensor, and a position / tilt measurement unit that receives a tilt angle.
A road information search and identification unit that searches a road map information database and identifies a currently traveling road from position information;
A reference point elevation / attribute search and identification means for searching a road elevation / attribute database and identifying a reference point of a currently traveling road from the altitude information;
Each time the vehicle passes the reference point, the inclination value of the specified reference point and the difference between the measurement value of the mounted inclination sensor and the inclination sensor calibrating means for determining and correcting the correction value of the measurement value of the inclination sensor,
Road elevation value interpolation means for calculating the mileage from the immediately preceding reference point by the data from the odometer, and calculating the relative elevation with respect to the reference point passed from the slope and the distance;
It is characterized by comprising at least driver communication means for converting the information of the altitude value of the current position and the road inclination into a display or voice recognizable by the driver.
[0016]
Further, the control device reads out reference point information of a traveling direction ahead from the current position of the road specified by the reference point elevation / attribute search specifying means, and calculates a slope value of the course by a power system, a braking system, or an operation system. It is characterized by comprising a route prediction information providing means to be provided to the vehicle control computer.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic road diagram showing reference points on a road in the road information system of the present invention.
[0018]
In FIG. 1, p1 to p4 are primary reference points at which the elevation of the road surface is determined by topographic survey. The primary reference point is determined by selecting a point where the elevation of the road and the ground coincide with each other by using a topographic map interpretation, photogrammetry, laser navigation, or other methods. For this reason, the absolute altitude value previously measured by the topographical survey can be easily set together with the coordinate (latitude, longitude) data.
[0019]
In FIG. 1, s1 to s3 and L1 to L2 are secondary reference points for which the relative elevation has been calculated by measuring the inclination angle and the distance from the primary reference point. s1 to s3 are elevation values calculated by measuring coordinates (latitude and longitude) at or near the inflection point of the road slope, and L1 to L2 are changes in the slope such as intersections of roads and inflection points in the horizontal direction. It is a point where there are few. The primary reference point and the secondary reference point are provided with information on the inclination angle obtained by the measurement together with the elevation value.
[0020]
FIG. 2 is a schematic diagram showing an embodiment of the road surface elevation value / attribute database structure of the present invention. A pointer for searching primary reference point information set in a road identification information index such as a road number (link number), a road type, and road attribute information is registered. The primary reference point data file contains the coordinates (X, Y, Z) of the point set to p1 to pn, the inclination of the point, the attribute of the road, and the secondary reference point set between points p1 and p2. Pointers for searching s1 to s3 are registered. Here, X is latitude, Y is longitude, and Z is altitude.
[0021]
The road attribute information includes a road name, an intersection name, an intersection angle, a branch point name, a branch angle, and at least a grounding state section (flatland, embankment, underground), an elevated section (ground level, a hierarchy), and a tunnel section (mountain, underground, This is information recorded by the attribute codes of the (ground), left and right road wall sections, and median strip section.
[0022]
The inclination value information indicates an inclination angle of the road at the reference point with respect to the horizontal toward the traveling direction of the road at the reference point. And the relative angle (azimuth) of the road traveling direction with respect to the ground axis can be measured and recorded.
[0023]
Next, a method for measuring road information according to the present invention will be described. FIG. 3 is a flowchart showing a procedure of the road information measuring method of the present invention. The method of measuring the elevation value and the slope value of the road information according to the present invention will be described with reference to FIG.
[0024]
First, a plurality of points where the road surface is in contact with the ground and the change in inclination is small are selected in advance from among the starting point, the ending point, and the intermediate point of the road to be measured, as primary reference points, and a known elevation is obtained by topographical survey. The values and road attributes are recorded in the reference point elevation / attribute database (S31: primary reference point information collecting step).
[0025]
Next, a measurement vehicle equipped with a GPS, an inclination sensor, and an in-vehicle computer for collecting measurement results in real time travels on the road to be measured, and every time the vehicle reaches the set primary reference point, the inclination of the point is measured. The angle is measured (S32). The inclination value of the road surface is obtained in addition to the coordinates (latitude, longitude, altitude) of the primary reference point already collected and recorded. In FIG. 3, the inclination angle is abbreviated as the inclination in the description of each step.
[0026]
While traveling on the road to be measured, at fixed time intervals, the traveling distance from the primary reference point at the time of the immediately preceding measurement, the GPS coordinates of the current position, the direction (azimuth) of the measuring vehicle, and the inclination angle of the point Is measured, and the relative elevation from the immediately preceding measurement point is calculated from the traveling distance and the inclination angle, and the measured values of the traveling distance and the inclination angle and the relative elevation calculation result are recorded as road surface elevation measurement data (S33: actual road measurement data). Collection step).
[0027]
While the measuring vehicle is running, in parallel with the above-mentioned actual road data collection, the grounding condition section (flatland, embankment, underground), elevated section (height above ground, level), tunnel section (mountain, underground, above ground), left and right road walls The change of the road attribute including the section and the median divider section and the change of the road attribute at the start and end of the intersection such as intersection / branch are recorded as road attribute information collection data (S34: road attribute recording step). This step is performed when there is a route in the primary reference point information collecting step where the current state is different from the road attribute information in the topographic survey map, or when there is a route for which the road attribute information is not registered in the primary reference point database. Information supplementing means.
[0028]
When the measuring vehicle passes the primary reference point, the absolute elevation data of the primary reference point recorded in advance in the reference point elevation / attribute database is searched, and the relative elevation calculation value is replaced with the absolute elevation value. If there is a difference from the altitude calculation result, the difference is weighted by a function of the distance from the immediately preceding primary reference point to obtain a corrected altitude, which is recorded as road surface altitude measurement data (S35: corrected altitude) Value calculation step).
[0029]
Until the end point of the road to be measured is reached, S32 to S35 are repeated (S36).
[0030]
After the measurement of a fixed line of the measurement target, the road surface elevation measurement data is read out in the order of measurement, and the point of change in the inclination angle is small, or the inflection point of the inclination angle of a certain angle or more, the inflection point of the direction, and the The inflection point is extracted as a secondary reference point, and in addition to the primary reference point, its measured inclination angle, corrected elevation value, and road attribute information are recorded in the reference point elevation / attribute database (S37: road elevation data editing step). .
[0031]
The S35: corrected altitude value calculating step may be performed before the S37: road altitude data editing step, and the road surface altitude measurement data may be collectively and sequentially corrected.
[0032]
The tilt sensor used for measurement may be a mechanical sensor, a magnetic sensor, a gyro sensor, an electrostatic sensor, an electrolytic sensor, a piezoelectric sensor, or an optical sensor, or a combination of any one of the sensors. After performing calibration on the horizontal surface in the loading state at the time of measurement, make measurement travel, and during travel measurement, perform one or more tilt angle measurements per second, analyze the average value or variance, and calculate the weighted minimum A statistical value by a square method or the like is used to record a measured value in which measurement noise is canceled. In the calibration, in addition to the calibration on the horizontal plane (inclination of zero), the accuracy is ensured by performing calibration with a known constant inclination of a few points.
[0033]
As the travel distance used in the altitude calculation, a travel distance from the immediately preceding measurement value by GPS or a measurement value by a distance meter linked to wheel rotation is used.
[0034]
FIG. 4 is a schematic diagram showing the configuration of the road surface elevation value measurement system of the present invention.
[0035]
The road surface elevation value measurement system of the present invention, which measures road elevation value information and distributes the database so that it can be used, is connected to a road elevation value management computer 30 of a map information management company by a communication line including a computer network 5. A computer 1 of a public geographical information agency providing elevation surveying data nationwide,
A high-precision road altitude measuring vehicle equipped with a computer that includes at least a vehicle position measuring device (GPS), a tilt sensor, and a mileage measuring device, and that measures a position and a tilt angle of a traveling road with high accuracy and records the data. 10 and
A vehicle position measuring device (GPS) that performs navigation to a driver or automatic control of a vehicle in response to provision (distribution) of a reference point elevation / attribute database created by a road elevation value management computer 30 based on measured and recorded data. And a user vehicle having at least a tilt sensor and a vehicle-mounted computer 20 for control.
[0036]
In this embodiment, the computer 1, the high-precision road elevation measurement vehicle, and the road elevation value management computer 30 of the public geographic information agency are connected by a communication line. Of course, it is also possible to carry out by exchanging a large-capacity storage medium.
[0037]
The road elevation value management computer 30 includes a gateway 31 connected to a communication line including the computer network 5, and a road surface elevation value management server that receives road elevation measurement data, corrects the data, and creates a road surface elevation database. 32 and a database server 33 for recording a reference point elevation / attribute database.
[0038]
The road surface elevation value management server 32 includes a primary reference point setting registration / distribution unit 32a, an elevation attribute measurement data reception / registration unit 32b, a measurement data correction / registration unit 32c, and a secondary reference point extraction road surface elevation. At least a value registration unit 32d and a road surface elevation database distribution unit 32e are provided.
[0039]
The primary reference point setting registration / distribution means 32a preliminarily selects a plurality of points, of which the road surface is in contact with the ground and has a small change in inclination, from among the starting point, the ending point, and the intermediate point of the road to be measured. A point is selected, and a known elevation value and a road attribute are recorded in a primary reference point database 33b by topographical surveying from a road map information database obtained from a computer 1 of a public geographic information agency or a computer of a map information management company, and It is a means for delivering in response to a request of the primary reference point data database of the road to be measured from the high-precision road elevation measuring vehicle 10.
[0040]
The elevation attribute measurement data receiving / registering unit 32b receives the road elevation attribute measurement data and the road attribute information collection data measured by actual traveling from the high-precision road elevation measurement vehicle 10 and records them in the road elevation attribute measurement database 33c. It is a means to do.
[0041]
The measurement data correction / registration means 32c corrects the measurement noise with respect to the received measurement data, searches for the absolute elevation data of the primary reference point, replaces the relative elevation calculation value with the absolute elevation value, and When there is a difference between the calculation result and the calculation result, the difference is weighted by a function of the distance from the immediately preceding primary reference point, a corrected altitude is obtained, and the corrected altitude is obtained and recorded as road surface elevation measurement data.
[0042]
The secondary reference point extraction road surface elevation value registration means 32d reads the road surface elevation measurement data sequentially in the order of measurement, and detects a point at which the change in the inclination angle is small or an inflection point of the inclination angle of a certain angle or more, and an inflection point of the direction. And an inflection point of the road attribute as a secondary reference point, and in addition to the primary reference point, records the measured inclination angle, corrected elevation value, and road attribute information in the reference point elevation / attribute database.
[0043]
The road surface elevation database distribution means 32e distributes the created reference point elevation / attribute database 33d as data usable by the user's navigation system 20 or vehicle control system via the computer network 5 or as a recording medium. Means.
[0044]
The database server 33 includes a road map information database 33a in which road map information obtained from a computer of a public geographic information agency (such as the Geographical Survey Institute) or a map information management company via a communication line and a recording medium is recorded. A primary reference point database 33b in which primary reference point information for each road registered by the primary reference point setting registration / distribution unit 32a is recorded; and the measurement data correction registered and registered by the elevation attribute measurement data reception / registration unit 32b. A road elevation attribute measurement database 33c corrected by the registration unit 32c, and a reference point elevation whose data has been compressed and edited so that the secondary reference point is set and usable by the secondary reference point extraction road surface elevation value registration unit 32d. And an attribute database 33d.
[0045]
According to this system configuration, setting registration of the primary reference point, distribution of the information, actual traveling by a plurality of measuring vehicles, correction and editing of the actual measurement data, and provision of information to the used vehicle can be efficiently performed in parallel. .
[0046]
FIG. 5 is a schematic diagram showing a configuration of a computer of the high-accuracy road elevation measuring vehicle of the present invention.
[0047]
The computer of the high-precision road elevation measuring vehicle 10 processes data from a vehicle position measuring device (GPS) 11, an inclination sensor 12, an odometer 13, and an input port 15 for receiving data from a road attribute input unit 14. It comprises a measurement control device 16 and a data recording device 17 for recording data processing results.
[0048]
The data recording device 17 includes a road map information database 17a and a primary reference point database 17b, which are registered by receiving information registered in advance in the computer 30 of the map information management company via a recording medium or a communication line. It has road surface elevation measurement data 17c in which results are recorded, and road attribute information collection data 17d in which information collection results are registered.
[0049]
The measurement control device 16 includes a primary reference point data acquisition / registration unit 16a, a position / inclination measurement registration unit 16b, a distance / altitude calculation registration unit 16c, a primary reference point identification / correction unit 16d, and attribute information. A recording unit 16e and an altitude attribute measurement data transmitting unit 16f are provided.
[0050]
The primary reference point data acquisition / registration means 16a acquires the road map information database 33a and the primary reference point database 33b registered in advance in the computer 30 of the map information management company via a recording medium or the computer network 5, and acquires the data. This is a means for registering in the road map information database 17a and the primary reference point database 17b of the recording device 17.
[0051]
The position / inclination measurement registration unit 16b is a unit that records the current position from the GPS 11 and the measurement result of the road inclination angle at that point as road surface elevation measurement data 17c at regular time intervals.
[0052]
The distance / altitude calculation registration unit 16c calculates the relative altitude from the immediately preceding measurement point from the travel distance and the inclination angle from the point at the time of the immediately preceding measurement, and uses the travel distance and the relative altitude calculation result as the road surface elevation measurement data 17c. It is a means for recording.
[0053]
When the current position reaches the pre-registered primary reference point, the primary reference point identifying / correcting means 16d searches the absolute elevation data of the primary reference point database 17b, and calculates the relative elevation calculated value as the absolute elevation value. In addition, if there is a difference from the relative altitude calculation result, the difference is weighted with a function of the distance from the immediately preceding primary reference point to obtain a corrected altitude, which is recorded as road surface elevation measurement data 17c. It is a means to do.
[0054]
The attribute information recording unit 16e is configured to determine whether there is a route for which road attribute information is not registered in the primary reference point database during traveling, or to compare the road attribute information collected from the topographical survey map in the primary reference point information collection step. If there is a route that is different from the current situation, in parallel with the collection of the actual road measurement data, the grounding status section (level ground, embankment, underground), elevated section (ground level, level), tunnel section (mountain, underground, ground), The change of the road attribute including the change of the road attribute including the left and right road wall sections and the median strip section and the change of the road attribute inputted from the road attribute input means at each of the start and end road attribute change points such as intersection / branch are taken as the road attribute information collection data 17d. It is a means for recording.
[0055]
The elevation attribute measurement data transmitting means 16f is a means for transmitting the road elevation measurement data 17c and the road attribute information collection data to the road elevation management computer 30 of the map information management company via a recording medium or the computer network 5 after the measurement is completed. is there.
[0056]
Here, the inclination sensor 12 for measuring the inclination of the road may be a mechanical sensor, a magnetic sensor, a gyro sensor, an electrostatic sensor, an electrolytic sensor, a piezoelectric sensor, or an optical sensor, or a combination of any of them. Is used to perform high-accuracy measurement with noise removed.
[0057]
By providing a high-precision road elevation measuring vehicle equipped with such equipment, the road information system of the present invention can accurately and easily measure the actual state of the road in a short time as a road elevation database that satisfies usage requirements. be able to.
[0058]
FIG. 6 is a schematic diagram showing a configuration of a navigation system of a user using the navigation of the present invention.
[0059]
The navigation system includes a vehicle position measuring device (GPS) 21, an inclination sensor 22, an odometer 23, an input port 25 from those devices, a control device 26 for processing input data, and map information. It comprises an in-vehicle computer 20 having a data recording device 27.
[0060]
The data recording device 27 includes a reference point elevation / attribute database 27b provided or distributed by a map information management company in addition to a general road map information database 27a.
[0061]
The control device 26 includes a position / inclination measurement unit 26a, a road information search / identification unit 26b, a reference point elevation / attribute search / identification unit 26c, a road elevation value interpolation unit 26d, an inclination sensor calibration unit 26e, and driver communication. Means 26f.
[0062]
The position / inclination measuring unit 26a is a unit that receives position information and an inclination angle from the vehicle position measuring device (GPS) 21 and the inclination sensor 22.
[0063]
The road information search and identification unit 26b is a unit that searches the road map information database 27a and identifies the currently traveling road from the position information.
[0064]
The reference point altitude / attribute search / identification means 26c is a means for searching the road altitude / attribute database 27b and identifying the currently traveling road from the altitude information.
[0065]
The road elevation value interpolation means 26d is a means for calculating the travel distance from the immediately preceding measurement point based on the data from the odometer 23, and calculating the relative elevation to the reference point passed from the slope and distance.
[0066]
Each time the inclination sensor calibrating means 26e passes the reference point, the inclination sensor calibration unit 26e calculates a correction value of the measurement value of the inclination sensor 22 from the difference between the inclination value of the specified reference point and the measurement value of the mounted inclination sensor 22. It is a means for obtaining and calibrating. Since the measurement value is corrected by this means, the in-vehicle inclinometer of the user can use an inexpensive inclinometer without using expensive and high-precision equipment.
[0067]
The driver communication unit 26f is a unit that converts information on the altitude value and the road inclination of the current location into a display or voice that can be recognized by the driver.
[0068]
In addition, the control device 26 reads the reference point information of the traveling direction ahead from the current position of the road specified by the reference point elevation / attribute search specifying unit 26c, and calculates the inclination value of the course by the power system / braking. A route prediction information providing means 26g provided to a vehicle control computer of the system or the operation system may be provided.
[0069]
Although the embodiments of the present invention have been described in detail above, the present invention relates to a vehicle-mounted navigation system including a road map information database and a GPS receiving terminal. For each road surface coordinate (latitude / longitude), slope value information, elevation value information and road attribute information at a reference point are stored in a road information database of a road information management company, and these are stored in a communication line including a computer network. Alternatively, the information can be provided to the navigation system via a storage medium.
[0070]
For this reason, every time the vehicle passes through a plurality of reference points of the present invention set on the road surface, accurate altitude information is acquired, a horizontal traveling distance is calculated in accordance with altitude differences, and a three-dimensional highway or a general road is traveled. The determination can be performed with high accuracy.
[0071]
In addition, for a navigation system equipped with a tilt sensor (including a 3D gyro sensor) in addition to a GPS having a large altitude positioning error, by providing an accurate altitude and tilt every time the vehicle passes the reference point coordinates of the present invention. The positioning error can be corrected.
[0072]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, the road information system which has the road surface elevation and inclination angle information which had conventionally been difficult to measure easily and accurately can be easily provided at low cost in a short time.
[0073]
Further, according to the road surface elevation value measurement system of the present invention, the setting and registration of the primary reference point, the distribution of the information, the actual measurement traveling by a plurality of measurement vehicles, the correction and editing of the actual measurement data, and the provision of information to the use vehicle are performed in parallel. It can be performed efficiently and efficiently.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing a reference point on a road in a road information system according to the present invention.
FIG. 2 is a schematic diagram showing an embodiment of a road surface elevation value / attribute database structure according to the present invention;
FIG. 3 is a flowchart showing a procedure of a road information measuring method of the present invention.
FIG. 4 is a schematic diagram showing a configuration of a road surface elevation value measurement system of the present invention.
FIG. 5 is a schematic diagram showing a configuration of a computer of the high-accuracy road elevation measuring vehicle of the present invention.
FIG. 6 is a schematic diagram showing a configuration of a navigation system of a user using the navigation of the present invention.
[Explanation of symbols]
p1, p2, p3, p4 Primary reference points
s1, s2, s3, secondary reference point
L1, L2 Secondary reference point
X latitude
Y longitude
Z altitude
1 Computers of public geographic information agencies
5 Computer network
10 Computer of high-precision road elevation measurement vehicle
11, 21 Vehicle position measuring device (GPS)
12,22 Tilt sensor
13,23 Odometer
14 Road attribute input means
15, 25 input port
16 Measurement control device
16a Primary reference point data acquisition / registration means
16b Position / incline measurement registration means
16c Distance and altitude calculation registration means
16d Primary reference point identification / correction means
16e Attribute information recording means
16f Altitude attribute measurement data transmission means
17, 27 Data storage device
17a Road map information database
17b Primary reference point database
17c Road surface elevation measurement data
17d Road attribute information collection data
20 User's in-vehicle computer
26 Control device
26a Position / tilt measuring means
26b Road information search and identification means
26c Reference point elevation / attribute search specifying means
26d road elevation value interpolation means
26e tilt sensor calibration means
26f Driver communication means
26g Route prediction information providing means
27 Data storage device
27a Road map information database
27b Reference point elevation / attribute database
28 Recording media
30 Road elevation value management computer
31 Gateway
32 Road surface elevation management server
32a Primary reference point setting registration / distribution means
32b Altitude attribute measurement data receiving / registering means
32c Measurement data correction / registration means
32d secondary reference point extraction road surface elevation value registration means
32e Road surface elevation database distribution means
33 Database server
33a Road map information database
33b Primary control point database
33c Road elevation attribute measurement database
33d Reference point elevation and attribute database

Claims (10)

In a vehicle-mounted navigation system including a database of road map information and a global positioning system (GPS) receiving terminal, a road surface is grounded from among a starting point, an ending point, and an intermediate point of a road as road information of the database. And a plurality of primary reference points where the elevation value of the road surface is determined by terrain surveying with little change in slope, and a slope of the road and a change start point (inflection point) in the horizontal direction or set in the vicinity thereof 1. Slope value information and elevation value of the road surface for each coordinate (latitude / longitude) of a reference point composed of a plurality of secondary reference points whose relative elevations have been calculated by measuring the inclination angle and distance from the primary reference point A road information system for in-vehicle navigation, comprising information and road attribute information. The road attribute information includes a road name, an intersection name, an intersection angle, a branch point name, a branch angle, and at least a grounding condition section (flatland, embankment, underground), an elevated section (ground height, hierarchy), and a tunnel section (mountain, underground, 2. The road information system for in-vehicle navigation according to claim 1, comprising attribute codes of (ground), left and right road wall divisions, and median strip division. The inclination value information includes, in addition to the inclination angle formed by the road at the reference point with respect to the horizontal in the traveling direction of the road at the reference point, the inclination angle of the road surface with respect to the horizontal in the cross direction of the road, and the relative angle of the road traveling direction with respect to the ground axis. 2. The road information system for in-vehicle navigation according to claim 1, wherein the road information system is provided with the angle (azimuth). A method of measuring and collecting elevation values, slope values, and road attribute information for each coordinate of a reference point including a start point, an end point, and a plurality of waypoints provided therebetween, as road information,
A plurality of points where the road surface is in contact with the ground and the change in inclination is small are selected as primary reference points from among the starting point, the end point, and the intermediate points of the measurement target road in advance, and the elevation values and the known elevation values obtained by topographical surveying are selected. A primary reference point information collecting step of recording the road attribute information in a reference point elevation / attribute database;
A measuring vehicle equipped with a GPS, a tilt sensor, and an in-vehicle computer that collects measurement results in real time, travels on a road to be measured, and measures the tilt angle of the point each time the vehicle reaches the set primary reference point. At the same time, at regular time intervals, the traveling distance from the primary reference point at the time of the immediately preceding measurement, the GPS positioning coordinates of the current position, the direction of the measuring vehicle, and the inclination angle of the point are measured. A road actual measurement data collection step of calculating the relative elevation from the immediately preceding measurement point from the inclination angle, and recording the measured value of the traveling distance and the inclination angle and the relative elevation calculation result as road surface elevation measurement data,
During traveling of the measuring vehicle, if there is a route whose road attribute information is not registered in the primary reference point database in parallel with the above-mentioned actual road measurement data collection, or collected from the topographical survey map in the primary reference point information collection step. If there is a route that differs from the current road attribute information and the current status, the grounding status classification (flatland, embankment, underground), elevated section (ground level, hierarchy), tunnel section (mountain, underground, ground), left and right road of the route A road attribute recording step of recording, as road attribute information collection data, a change in road attribute for each change point of road attribute including a wall section, a median strip section, and a start / end road attribute change point such as intersection / branch;
When the measuring vehicle passes the primary reference point, the absolute elevation data of the primary reference point recorded in advance in the reference point elevation / attribute database is searched, and the relative elevation calculation value is replaced with the absolute elevation value. A step of calculating a corrected altitude obtained by correcting the difference by weighting the difference with a function of the distance from the immediately preceding primary reference point to obtain a corrected altitude, and recording the corrected altitude as road elevation measurement data; When,
After the measurement of the fixed route, the road surface elevation measurement data is read out sequentially in the order of the measurement, and the point at which the change in the inclination angle is small, or the inflection point of the inclination angle which is equal to or more than a certain value, the inflection point of the direction, and the inflection point of the road attribute are obtained. As a secondary reference point, and a road elevation data editing step of recording the measured inclination angle, corrected elevation value, and road attribute information in the reference point elevation / attribute database in addition to the primary reference point. Road information measurement method. The tilt sensor uses a mechanical sensor, a magnetic sensor, a gyro sensor, an electrostatic sensor, an electrolytic sensor, a piezoelectric sensor, or an optical sensor or a combination of any of the above to measure a measuring vehicle in advance. Calibration on the horizontal surface is performed in the loading state, and measurement is performed. During travel measurement, the inclination angle is measured once or more times per second, and the average or variance analysis, weighted least squares method, etc. 5. The road information measuring method according to claim 4, wherein the measurement value obtained by canceling the measurement noise by performing the statistical processing according to (1) is recorded. The road information measurement method according to claim 4, wherein the travel distance uses a movement distance from a immediately preceding measurement value by GPS or a measurement value by a distance meter linked to wheel rotation. A road elevation measurement system that measures road elevation value information and distributes the database to be usable,
A computer of a public geographic information agency that provides elevation survey data nationwide, a road elevation management computer of a map information management company that can obtain geographic information via a recording medium or a computer network, and a communication line including a computer network High-precision equipped with a computer that has at least a vehicle position measurement device (GPS), a tilt sensor, and a mileage measurement device and that measures the position and inclination angle of the road while traveling with high accuracy and records the data. Road elevation measurement vehicles,
A vehicle position measurement device (GPS) for providing navigation to a driver or automatically controlling a vehicle by providing (distributing) a reference point elevation / attribute database created by a road elevation value management computer based on measured and recorded data; It is composed of a user vehicle having at least a tilt sensor and an on-vehicle computer for control,
The road elevation value management computer receives a road elevation measurement data via a recording medium or a computer network, and corrects and edits the data to create a road elevation information database; and a road elevation / attribute database. And a database server that records
The road surface elevation value management server previously selects, as primary reference points, a plurality of points where the road surface is in contact with the ground and the change in inclination is small, from among the start start point, end point, and intermediate points of the road to be measured. The known elevation values and road attributes are recorded in a primary reference point database by topographic survey from a road map information database obtained from a computer of a public geographic information agency or a computer of a map information management company, and the high-precision road elevation measurement is performed. A primary reference point setting registration / distribution means for delivering in response to a request from a primary reference point data database of a road to be measured from a vehicle;
An altitude attribute measurement data receiving / registering unit that receives road altitude attribute measurement data and road attribute information collection data measured by actual traveling from a high-precision road altitude measurement vehicle and records the data in a road altitude attribute measurement database;
Correction of the measurement noise to the received measurement data, search for the absolute elevation data of the primary reference point, replace the relative elevation calculation value with the absolute elevation value, and if there is a difference between the relative elevation calculation result, Measurement data correction / registration means for obtaining a corrected elevation obtained by weighting the difference with a function of the distance from the immediately preceding primary reference point and recording the corrected elevation as road surface elevation measurement data;
The road surface elevation measurement data is sequentially read out in the measurement order, and a point with a small change in inclination angle, an inflection point with an inclination angle of a certain angle or more, an inflection point in direction and an inflection point in road attribute are extracted as secondary reference points. Secondary reference point extraction road surface elevation value registration means for recording the measured inclination angle, corrected elevation value, and road attribute information in the reference point elevation / attribute database in addition to the primary reference point;
Road surface elevation database distribution means for distributing the created reference point elevation / attribute database as data usable by a user's navigation system or vehicle control system via a computer network or providing the data as a recording medium. Road surface elevation measurement system. The computer of the high-precision road elevation measurement vehicle includes an input port for receiving data from a vehicle position measurement device (GPS), a tilt sensor, an odometer, and road attribute input means, a measurement control device for processing the data, And a data recording device that records the processing result of
The measurement control device acquires a primary reference point database registered in advance in a computer of a map information management company via a recording medium or a computer network, and registers the primary reference point data in a data recording device;
Position / inclination measurement registration means for recording the current position from the GPS and the measurement result of the road inclination angle at that point as road surface elevation measurement data at fixed time intervals;
Distance / altitude calculation registration means for calculating the relative altitude from the immediately preceding measurement point from the travel distance and the inclination angle from the point at the time of the last measurement, and recording the travel distance and the relative elevation calculation result as road surface elevation measurement data,
When the current position reaches the pre-registered primary reference point, the absolute elevation data in the primary reference point database is searched, the relative altitude calculation value is replaced with the absolute altitude value, and a difference is obtained from the relative altitude calculation result. In this case, a primary reference point identifying / correcting means for obtaining a corrected altitude obtained by weighting the difference with a function of a distance from the immediately preceding primary reference point and recording the difference as road surface elevation measurement data;
During traveling, in parallel with the actual road measurement data collection, if there is a route for which the road attribute information is not registered in the primary reference point database, a grounding condition classification (flat ground, embankment, underground), an elevated classification (ground height, Input from the road attribute input means for each change point of the road attribute including the change of the road attribute including the hierarchy section), the tunnel section (mountain, underground, above ground), the left and right road wall section, the median strip section and the start / end of the intersection / branch. Attribute information recording means for recording the change of the road attribute as road attribute information collection data,
An altitude attribute measurement data transmitting means for transmitting the road altitude measurement data and the road attribute information collection data to the road altitude management computer of the map information management company via a recording medium or a computer network after the measurement is completed. Item 7. A road surface elevation value measuring system according to item 7. A vehicle position measuring device (GPS), a tilt sensor, an odometer, an input port from these devices, a control device for processing input data, and a vehicle-mounted computer including a map information data recording device. Navigation system,
The data recording device includes a reference point elevation / attribute database provided or distributed from a map information management company in addition to a general road map information database,
The control device includes a vehicle position measurement device (GPS), position information from a tilt sensor, and a position / tilt measurement unit that receives a tilt angle.
A road information search and identification unit that searches a road map information database and identifies a currently traveling road from position information;
A reference point elevation / attribute search and identification means for searching a road elevation / attribute database and identifying a reference point of a currently traveling road from the altitude information;
Each time the vehicle passes the reference point, the inclination value of the specified reference point and the difference between the measurement value of the mounted inclination sensor and the inclination sensor calibrating means for determining and correcting the correction value of the measurement value of the inclination sensor,
Road elevation value interpolation means for calculating the mileage from the immediately preceding reference point by the data from the odometer, and calculating the relative elevation with respect to the reference point passed from the slope and the distance;
A navigation using a road surface elevation value measurement system, comprising at least driver communication means for converting information on an elevation value of a current location and information on a road inclination into a display or voice recognizable by a driver. The control device reads out reference point information in the traveling direction ahead from the current position of the road specified by the reference point elevation / attribute search specifying means, and calculates a slope value of the course by a vehicle control of a power system, a braking system, or an operation system. 10. The navigation using the road surface elevation value measurement system according to claim 9, further comprising a route prediction information providing unit that provides the route prediction information to a computer.

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