JP2006017473A - Navigation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable the acquisition of the traffic information of the route of a vehicle travelled with a high efficiency by acquiring the traffic information about the opposite lane regarding the road on which the vehicle is running. <P>SOLUTION: The navigation system comprises the vehicle information acquisition part for acquiring the information as self vehicle information about present position and the speed of the self-vehicle, the image information acquisition part for acquiring the images of oncoming vehicles with a prescribed interval, the image information matching part for recognizing the same oncoming vehicles by performing the image matching on the images before and after the prescribed elapsed time, the information of oncoming vehicle determination part for acquiring the position and its speed of determined oncoming vehicle as the oncoming vehicle information on the basis of the self vehicle information and the relative distance between the oncoming vehicle discriminated and the self vehicle, and the running history information database for accumulating the oncoming vehicle information. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a navigation system.

  Conventionally, in a navigation apparatus mounted on a vehicle such as an automobile, when an operator such as a driver operates a predetermined input unit to set a destination, the current position of the vehicle detected by the current position detection processing unit is determined. As a starting point, a route from the starting point to the destination is searched, and the searched route is guided. In this case, the route is searched so that the distance from the starting point to the destination is the shortest, or the route is searched so that the required time is the shortest.

  However, in general, the navigation device sets the route so that it passes through a relatively large road, and since the actual traffic volume is not sufficiently reflected, the route with the shortest required time is always set. Not exclusively. Therefore, the travel history such as the trajectory, vehicle speed, position information, etc. that the vehicle has traveled in the past is stored and stored in the storage means, and the required time is calculated based on the accumulated travel history when searching for the route from the next time onwards. Thus, a technique for setting a route has been proposed (see, for example, Patent Document 1).

As a result, a route with the shortest required time can be set based on the experience of the operator actually traveling.
JP 2000-275053 A

  However, in the conventional system, since only the traveling history of the vehicle itself is accumulated, only information about the lane on the traveling direction side of the vehicle can be acquired for only one road, and the lane on the opposite direction side, that is, The information about the oncoming lane could not be obtained.

  The present invention solves the problems of the conventional system and obtains traffic information about the opposite lane of the vehicle with respect to the road on which the vehicle is traveling, thereby increasing the traffic information of the route traveled by the vehicle. An object is to provide a navigation system that can be acquired efficiently.

  Therefore, in the navigation system of the present invention, the vehicle information acquisition unit that acquires the current position and the vehicle speed of the vehicle as the vehicle information, the image information acquisition unit that acquires the image of the oncoming vehicle at a predetermined cycle, and a predetermined time The image information matching unit that performs image matching on the images before and after the lapse to identify the same oncoming vehicle, and the identification based on the own vehicle information and a relative distance between the oncoming vehicle identified as the own vehicle An oncoming vehicle information determination unit that acquires the oncoming vehicle position and vehicle speed as oncoming vehicle information, and a travel history information database that stores the oncoming vehicle information.

  In another navigation system of the present invention, the oncoming vehicle information determination unit further acquires a link number of the link where the identified oncoming vehicle is located based on the current position and relative distance of the own vehicle, The oncoming vehicle information is stored in association with the link number.

  In still another navigation system of the present invention, the oncoming vehicle information determination unit measures the relative distance based on the size of the image.

  In still another navigation system of the present invention, the oncoming vehicle information determination unit further measures the relative distance by a distance measurement sensor.

  In still another navigation system of the present invention, a host vehicle information acquisition unit that acquires the current position and vehicle speed of the host vehicle as host vehicle information, an image information acquisition unit that acquires an oncoming vehicle image at a predetermined cycle, and before and after a predetermined time elapse The oncoming vehicle identified based on the image information matching unit that performs image matching on the image of the vehicle to identify the same oncoming vehicle, the own vehicle information, and the relative distance between the own vehicle and the oncoming vehicle identified An on-vehicle information determination unit that acquires the position and vehicle speed of the vehicle as oncoming vehicle information, an in-vehicle device that includes a communication unit that transmits and receives data, a travel history information database that stores the oncoming vehicle information, and data transmission and reception And a server including a communication unit for performing.

  According to the present invention, traffic information about an oncoming lane is acquired with respect to a road on which a vehicle is traveling. Therefore, the traffic information of the route on which the vehicle has traveled can be acquired with high efficiency.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 2 is a diagram showing the configuration of the navigation system in the embodiment of the present invention.

  In the figure, reference numeral 11 denotes an information providing server as a server, which is configured in a computer provided with arithmetic means such as a CPU and MPU, storage means such as a semiconductor memory, a magnetic disk, and an optical disk, and a communication interface.

  Reference numeral 31 denotes an in-vehicle device operated by an operator as a user, which is mounted on a vehicle such as a passenger car, a truck, a bus, and a motorcycle. Although there are actually a large number of in-vehicle devices, in the present embodiment, the on-vehicle device 31 is representative for convenience of explanation. The operator is, for example, a driver or a passenger of the vehicle, but may be any person. And the navigation system in this Embodiment is comprised by the said information provision server 11 and the vehicle-mounted apparatus 31. FIG. In this case, it is desirable that the operator is a person who is registered in advance in the navigation system and has a registration ID. Moreover, it is desirable that the in-vehicle device 31 is also registered.

  The in-vehicle device 31 includes an arithmetic device such as a CPU and an MPU, a storage device such as a semiconductor memory and a magnetic disk, a liquid crystal display, an LED (Light Emitting Diode) display, a display device such as a CRT, a keyboard, a joystick, a cross key, An input device such as a push button, a remote controller, and a touch panel, a display control device that controls the display device, and a communication unit 36 such as a communication interface that transmits and receives data. The in-vehicle device 31 may be any device as long as it has a function of searching for a route from the departure place to the destination. In the present embodiment, the in-vehicle device 31 is a navigation device. Will be described.

  Further, the in-vehicle device 31 has a positioning sensor 33 as a vehicle current position detecting device. For example, when the in-vehicle device 31 is a navigation device, the positioning sensor 33 is generally a GPS (Global Positioning System), a geomagnetic sensor, a distance sensor, a steering sensor, a beacon sensor, a gyro sensor, a trip meter, etc. To detect the current position. The in-vehicle device 31 includes a vehicle speed sensor 34 that detects the vehicle speed of the vehicle. The vehicle speed sensor 34 detects the vehicle speed based on, for example, the number of rotations of the wheels of the vehicle. Further, the in-vehicle device 31 has an image sensor 25 for acquiring an image. The image sensor 25 includes an image sensor such as a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), and the like, and is attached to a front part of a vehicle body, a front window of a driver's seat, and the like, and travels in an opposite lane. It is possible to capture a vehicle or the like that travels in the oncoming lane, that is, obtain a distance from the oncoming vehicle, or obtain a relative movement distance from the oncoming vehicle. The distance to the oncoming vehicle and the relative movement distance may be measured based on the image signal from the image sensor 25, or the distance measurement of a laser radar, a millimeter wave radar, or the like attached to the front part of the vehicle body. The sensor for measurement may measure.

  From the viewpoint of function, the in-vehicle device 31 includes an oncoming vehicle image information database 23 for storing an oncoming vehicle image acquired by the image sensor 25, and an oncoming vehicle image information acquired by the image sensor 25. An image information acquisition unit 24 that stores and accumulates in the database 23, an image information matching unit 22 that performs image matching of oncoming vehicle images stored in the oncoming vehicle image information database 23, and an image by the image information matching unit 22 There is an oncoming vehicle information determination unit 21 that identifies an oncoming vehicle based on the matching result and determines information about the oncoming vehicle. The in-vehicle device 31 includes a host vehicle information acquisition unit 32 that acquires information detected by the positioning sensor 33 and the vehicle speed sensor 34 as host vehicle information, and host vehicle information acquired by the host vehicle information acquisition unit 32 and There is a travel history information database 35 that stores the oncoming vehicle information determined by the oncoming vehicle information determination unit 21 as travel history information. The oncoming vehicle information determination unit 21 determines the oncoming vehicle information with reference to the own vehicle information acquired by the own vehicle information acquisition unit 32.

  In the present embodiment, the vehicle information acquisition unit 32 acquires the current position and vehicle speed of the vehicle as vehicle information. The image information acquisition unit 24 acquires an image of the oncoming vehicle at a predetermined cycle. Further, the image information matching unit 22 performs image matching on images before and after a predetermined time to identify the same oncoming vehicle. And the oncoming vehicle information determination part 21 acquires the position and vehicle speed of the identified oncoming vehicle as oncoming vehicle information based on the relative distance between the own vehicle information and the oncoming vehicle identified as the own vehicle.

  Further, the in-vehicle device 31 is a data recording unit as a storage unit for storing road data, map data including search data, and the like, and a route for searching for a route to a set destination based on the input information. A navigation processing unit, an input unit, a display unit, a voice input unit, and a variety of calculation processes such as a search process, a route travel guidance process, a POI (Point of Interest) search process for searching points and facilities, etc. An audio output unit is provided to search for a route to a set destination and provide guidance. The road data also includes information on links that are units constituting the road. The information includes a link number assigned to each link in order to uniquely identify the link. The data recording unit also records various data for outputting predetermined information by the audio output unit.

  Here, from the viewpoint of function, the information providing server 11 includes a communication unit 12 for transmitting and receiving data to and from the in-vehicle device 31, and a travel history information database that stores travel history information received from the in-vehicle device 31. 13 The information providing server 11 has a traffic information database (not shown), a processing unit that accesses the traffic information database, acquires necessary data, and performs processing for creating predicted traffic information. Is desirable. In this case, the traffic information database is created, for example, by collecting information on traffic control systems such as the police and the Japan Highway Public Corporation in a road traffic information communication system called VICS® (Vehicle Information & Communication System). Information on traffic congestion on the road and road traffic information such as traffic regulation information are stored. Furthermore, the travel history information received from the plurality of in-vehicle devices 31 and stored in the travel history information database 13 is also stored. The processing unit creates predicted traffic information such as a predicted link travel time pattern based on traffic information such as travel history information stored in the traffic information database. Note that the predicted traffic information includes traffic jam prediction information. The predicted traffic information is preferably distributed from the communication unit 12 to the in-vehicle device 31. Thereby, the in-vehicle device 31 can search for a route based on the received predicted traffic information, and can search for an appropriate route with a short required time.

  Next, the operation of the navigation system having the above configuration will be described. Here, an operation in which the in-vehicle device 31 acquires information on the oncoming vehicle will be described.

  FIG. 1 is a diagram showing an outline of an operation for acquiring information on an oncoming vehicle in the embodiment of the present invention.

  First, the outline | summary of the operation | movement in which the vehicle equipment 31 acquires the information of an oncoming vehicle is demonstrated. In the present embodiment, when acquiring oncoming vehicle information, first, image matching is performed based on the acquired oncoming vehicle image to identify the oncoming vehicle. In this case, it is desirable to perform image matching on a specific part of the vehicle, for example, an image of a license plate (formally, an automobile registration number card or a vehicle number card). It is obligatory that the license plate be attached to the front and rear of ordinary vehicles such as passenger cars, trucks and buses (note that the motorcycle is only behind), and there are three types of license plates: large plate, medium plate and small plate. The size of letters such as numbers indicating numbers is the same for each of the large, medium and small plates, except for special ones such as for diplomats and SDF. Therefore, image matching can be easily performed, and the vehicle can be uniquely identified by characters such as the numbers. Note that the object of image matching is not limited to the license plate, and may be any part of the vehicle or the entire vehicle.

  Moreover, the relative distance with the identified oncoming vehicle is measured. In this case, the relative distance between the vehicle on which the in-vehicle device 31 is mounted, that is, the oncoming vehicle identified as the own vehicle, is measured according to the size of the image such as the license plate that is the object of the image matching, that is, the size. Can do. The relative distance can also be measured by a distance measuring sensor such as a laser radar or a millimeter wave radar attached to the front surface of the vehicle body of the host vehicle.

  And the relative movement distance with the oncoming vehicle identified with the own vehicle is obtained by measuring the distance between the oncoming vehicle and the identified oncoming vehicle at a predetermined cycle (for example, 1/10 second interval). Therefore, it is possible to calculate the moving distance and the vehicle speed of the oncoming vehicle based on the vehicle speed or the moving distance of the own vehicle. Furthermore, the required time and the degree of congestion in the oncoming lane can be calculated from the moving distance and the vehicle speed of the oncoming vehicle.

  FIG. 1 shows a method of calculating the required time and the degree of congestion in the oncoming lane using the license plate image. FIG. 1A shows the positional relationship between the host vehicle and the oncoming vehicle at a certain time (for example, 10:00: 00), and FIG. 1B shows a certain time from the time of FIG. The positional relationship between the own vehicle and the oncoming vehicle at the elapsed time (for example, 10:00:05) is shown. Here, it is assumed that the in-vehicle device 31 acquires images of three license plates from the head of the oncoming vehicle located in front of the host vehicle by the image sensor 25.

  In this case, at the time of FIG. 1A, the in-vehicle device 31 acquires images of the number plates of the oncoming vehicle A to the oncoming vehicle C, that is, images # 001 to # 003. Then, at the time of FIG. 1B, the in-vehicle device 31 acquires images of the number plates of the oncoming vehicle B to the oncoming vehicle D, that is, the images # 101 to # 103. In addition, at the time of FIG.1 (b), since the oncoming vehicle A has already passed the own vehicle, the image of the number plate of the oncoming vehicle A cannot be acquired. Moreover, since the oncoming vehicle D is not included in three from the head at the time of Fig.1 (a), the image of the number plate of the oncoming vehicle D cannot be acquired. Therefore, by performing image matching based on the acquired image of the license plate of the oncoming vehicle and identifying the oncoming vehicle, the license plate image # of the oncoming vehicle B and the oncoming vehicle C acquired at the time of FIG. It is recognized that 002 and image # 003 are the same as the image # 101 and image # 102 of the license plates of the oncoming vehicle B and the oncoming vehicle C acquired at the time of FIG. That is, image # 002 and image # 101 are matched, and image # 003 and image # 102 are matched.

  Then, with respect to the license plate with the image matched, the relative movement distance from the own vehicle in the time from the time of FIG. 1A to the time of FIG. 1B is acquired by the scale ratio of the size of the license plate. can do. That is, the relative movement distance between the own vehicle and the oncoming vehicle B can be acquired based on the size ratio between the image # 002 and the image # 101, and the own vehicle can be acquired based on the size ratio between the image # 003 and the image # 102. And the relative movement distance between the oncoming vehicle C can be acquired. In addition, the distance to the oncoming vehicle B and the oncoming vehicle C at the time of FIG. 1 (a) and the time of FIG. 1 (b) is measured by a distance measuring sensor such as a laser radar or a millimeter wave radar, so that the relative You may make it acquire a movement distance.

  Further, the moving distance of the host vehicle in the time from the time of FIG. 1A to the time of FIG. 1B can be acquired by the positioning sensor 33 and the vehicle speed sensor 34. Then, the moving distance and the vehicle speed of the oncoming vehicle B and the oncoming vehicle C can be obtained from the relative moving distance and the moving distance of the own vehicle.

  Next, an operation in which the in-vehicle device 31 acquires information on the oncoming vehicle will be described in detail.

  FIG. 3 is a flowchart showing an operation of acquiring oncoming vehicle information in the embodiment of the present invention.

  When the on-vehicle device 31 starts the operation of acquiring the information on the oncoming vehicle, the in-vehicle device 31 repeats as long as the information on the oncoming vehicle is continuously acquired. The in-vehicle device 31 acquires an image of the oncoming vehicle by the image sensor 25. The image is repeatedly acquired at a predetermined cycle. Moreover, it demonstrates as what acquires the image of the number plate which is a specific site | part of an oncoming vehicle as an image of an oncoming vehicle. Subsequently, the in-vehicle device 31 determines whether or not the same vehicle exists in the current and previous images, that is, an image that is matched between the license plate image acquired this time and the image of the license plate acquired last time. It is determined whether there is an image of a license plate of the same oncoming vehicle. And when the same vehicle does not exist, the image of an oncoming vehicle is acquired again and the above-mentioned operation is repeated.

  When the same vehicle exists, the in-vehicle device 31 specifies the link where the oncoming vehicle is located from the own vehicle position and the distance to the oncoming vehicle. That is, when there is a license plate image of the same oncoming vehicle in the license plate image acquired this time and the image of the license plate acquired last time, the relative distance between the own vehicle and the oncoming vehicle is acquired, and the relative distance The link number given to the link of the road where the oncoming vehicle is located is acquired based on the above. In this case, the relative distance can be measured based on the size of the license plate image, that is, the size. The relative distance can also be measured by a distance measuring sensor such as a laser radar or a millimeter wave radar attached to the front surface of the vehicle body of the host vehicle. A method for acquiring the link number will be described later.

  Subsequently, the in-vehicle device 31 calculates and accumulates the vehicle speed of the oncoming vehicle from the scale ratio of the image and the moving distance of the own vehicle. In this case, the in-vehicle device 31 acquires the relative movement distance between the host vehicle and the oncoming vehicle based on a scale ratio as a size ratio between the image of the license plate acquired this time and the image of the license plate acquired last time. Further, the movement distance of the own vehicle is acquired by the positioning sensor 33 and the vehicle speed sensor 34. Then, the vehicle speed of the oncoming vehicle is obtained from the relative movement distance and the movement distance of the host vehicle, and the vehicle speed is stored and stored in the travel history information database 35. In this case, the vehicle speed of the oncoming vehicle is stored in association with the link number. It should be noted that the relative movement distance is acquired by a distance measuring sensor such as a laser radar or a millimeter wave radar instead of a scale ratio as a ratio of the size of the license plate image acquired this time and the number plate image acquired last time. It may be.

  And the said vehicle-mounted apparatus 31 repeats the above-mentioned operation | movement as long as it continues acquiring the information of an oncoming vehicle, and will complete | finish a process, if it becomes unnecessary to acquire the information of an oncoming vehicle.

Next, a flowchart will be described.
Step S1 The operation up to step S6 is repeated as long as the oncoming vehicle information is continuously acquired.
Step S2: An image of the oncoming vehicle is acquired by the image sensor 25.
Step S3: It is determined whether or not the same vehicle exists in the current and previous images. If the same vehicle is present in the current and previous images, the process proceeds to step S4. If the same vehicle is not present in the current and previous images, the process returns to step S2.
Step S4: The link where the oncoming vehicle is located is specified from the own vehicle position and the distance to the oncoming vehicle.
Step S5: The vehicle speed of the oncoming vehicle is calculated and stored from the scale ratio of the image and the moving distance of the own vehicle.
Step S6 The operation from Step S1 is repeated as long as the oncoming vehicle information is continuously acquired. When it is no longer necessary to acquire the oncoming vehicle information, the processing is terminated.

  Next, the operation for acquiring the link number will be described.

  FIG. 4 is a flowchart showing an operation for acquiring a link number in the embodiment of the present invention.

  First, the in-vehicle device 31 acquires the link number A of the opposite link of the own vehicle. Here, the facing link is a link that configures the facing lane and corresponds to a coordinate position indicating the current position of the host vehicle. The link number assigned to the facing link is A. The link number is included in the road data.

  Subsequently, the in-vehicle device 31 calculates a distance B from the vehicle coordinate to the head of the opposite link with the link number A. That is, the distance from the coordinate position indicating the current position of the host vehicle to the start point of the link constituting the opposite lane with the link number A is calculated, and the value is set as B. The coordinate position of the link start point is included in the road data. And the said vehicle equipment 31 judges whether the distance B is more than the distance to an oncoming vehicle, ie, a relative distance. Here, when the distance B is equal to or greater than the distance to the oncoming vehicle, the link number A is the oncoming vehicle link number, that is, the link number assigned to the link of the road on which the oncoming vehicle is located is A. If there is, the process ends. Thereby, the link number provided to the link of the road where the oncoming vehicle is located can be acquired.

  When the distance B is not equal to or greater than the distance to the oncoming vehicle, the in-vehicle device 31 replaces the link number before the opposing link with the link number A with the link number A. That is, let A be a link number assigned to a link that constitutes an oncoming lane and that has a link number one before the link of A. Subsequently, the in-vehicle device 31 replaces the value obtained by adding the link length of the opposite link with the link number A to the distance B with the distance B. That is, a value obtained by adding the length of the link with the link number A to the already calculated distance B value is calculated, and the calculated value is newly set as the distance B. Then, again, it is determined whether the distance B is equal to or greater than the distance to the oncoming vehicle, and the above-described operation is repeated.

Next, a flowchart will be described.
Step S11: The link number A of the opposite link of the own vehicle is acquired.
Step S12: Calculate the distance B from the vehicle coordinates to the head of the opposite link with the link number A.
Step S13: It is determined whether or not the distance B is equal to or greater than the distance to the oncoming vehicle. If the distance B is equal to or greater than the distance to the oncoming vehicle, the process proceeds to step S16. If the distance B is not equal to or greater than the distance to the oncoming vehicle, the process proceeds to step S14.
Step S14: The link number before the opposite link of link number A is replaced with link number A.
Step S15: A value obtained by adding the link length of the opposite link with the link number A to the distance B is replaced with the distance B.
Step S16: Assuming that the link number A is the link number of the oncoming vehicle, the process is terminated.

  Next, the operation for calculating the time required for the oncoming lane and the degree of congestion will be described.

  First, the in-vehicle device 31 calculates the time required for the oncoming lane based on the vehicle speed and travel distance of the oncoming vehicle. Here, the required time is calculated by dividing the travel distance by the vehicle speed. Then, the degree of congestion is determined based on the vehicle speed of the oncoming vehicle. Note that the degree of congestion is determined based on a correspondence table between predetermined congestion levels and vehicle speeds. For example, if the vehicle speed is 8 km / h or less, it is determined that the traffic is congested. If the vehicle speed is 17 km / h or less, the traffic is determined to be congested. If the vehicle speed exceeds 17 km / h, the traffic is congested. Judged as none. Further, since the vehicle speed of the oncoming vehicle is associated with the link number of the oncoming lane, the degree of congestion is also determined in association with the link number of the oncoming lane.

  Thus, the information on the oncoming vehicle acquired by the in-vehicle device 31 is stored and accumulated in the travel history information database 35 and then transmitted to the information providing server 11. The vehicle information is also transmitted to the information providing server 11 along with the information on the oncoming vehicle. Further, the information providing server 11 stores and accumulates own vehicle information and oncoming vehicle information received from the in-vehicle device 31 mounted on each vehicle in the travel history information database 13. The own vehicle information is associated with the link number of the traveling lane on which the own vehicle is traveling, and the oncoming vehicle information is associated with the link number of the oncoming lane. The information providing server 11 performs statistical processing based on information such as own vehicle information and oncoming vehicle information accumulated in the travel history information database 13 to create predicted traffic information such as a predicted link travel time pattern. .

  The in-vehicle device 31 can also perform statistical processing based on the own vehicle information and oncoming vehicle information accumulated in the travel history information database 35 to create predicted traffic information such as a predicted link travel time pattern.

  As described above, in the present embodiment, the in-vehicle device 31 acquires the own vehicle information as the traffic information of the lane on the traveling direction side regarding the road on which the own vehicle is traveling, and the traffic information of the oncoming vehicle as the traffic information of the oncoming lane. Get information. Therefore, the traffic information of the route on which the vehicle has traveled can be acquired with high efficiency.

  The in-vehicle device 31 identifies the oncoming vehicle by performing image matching on the image of the oncoming vehicle, and obtains the vehicle speed of the oncoming vehicle by acquiring the distance to the identified oncoming vehicle at a predetermined cycle. It is supposed to be. Therefore, the vehicle speed of the oncoming vehicle can be acquired easily and with high accuracy.

  Furthermore, since the link number of the oncoming lane where the oncoming vehicle is located is acquired based on the distance from the oncoming vehicle, the vehicle speed of the oncoming vehicle can be associated with the link number of the oncoming lane. Therefore, the degree of congestion for each link can be determined based on information such as the vehicle speed of the oncoming vehicle, and a predicted link travel time pattern or the like can be created.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a figure which shows the outline of the operation | movement which acquires the information of an oncoming vehicle in embodiment of this invention. It is a figure which shows the structure of the navigation system in embodiment of this invention. It is a flowchart which shows the operation | movement which acquires the information of an oncoming vehicle in embodiment of this invention. It is a flowchart which shows the operation | movement which acquires the link number in embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Information provision server 12, 36 Communication part 13, 35 Traveling history information database 21 Oncoming vehicle information determination part 22 Image information matching part 24 Image information acquisition part 31 Car-mounted apparatus 32 Own vehicle information acquisition part

Claims (5)

(A) a vehicle information acquisition unit that acquires the current position and vehicle speed of the vehicle as vehicle information;
(B) an image information acquisition unit that acquires images of oncoming vehicles at a predetermined period;
(C) an image information matching unit for performing image matching on the images before and after a predetermined time to identify the same oncoming vehicle;
(D) an oncoming vehicle information determination unit that acquires the position and speed of the identified oncoming vehicle as oncoming vehicle information based on the own vehicle information and a relative distance between the own vehicle and the oncoming vehicle identified;
(E) A navigation system comprising a travel history information database that stores the oncoming vehicle information. (A) The oncoming vehicle information determination unit acquires a link number of a link where the identified oncoming vehicle is located based on the current position and relative distance of the own vehicle,
(B) The navigation system according to claim 1, wherein the oncoming vehicle information is stored in association with the link number. The navigation system according to claim 1, wherein the oncoming vehicle information determination unit measures the relative distance based on a size of the image. The navigation system according to claim 1, wherein the oncoming vehicle information determination unit measures the relative distance by a distance measurement sensor. (A) A vehicle information acquisition unit that acquires the current position and vehicle speed of the vehicle as vehicle information;
(B) an image information acquisition unit that acquires an image of the oncoming vehicle at a predetermined period;
(C) An image information matching unit that performs image matching on the images before and after a predetermined time and identifies the same oncoming vehicle,
(D) an oncoming vehicle information determination unit that acquires the position and speed of the identified oncoming vehicle as oncoming vehicle information based on the own vehicle information and a relative distance between the own vehicle and the oncoming vehicle identified; and
(E) an in-vehicle device including a communication unit that transmits and receives data;
(F) a travel history information database that stores the oncoming vehicle information; and
(G) A navigation system including a server including a communication unit that transmits and receives data.

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