JP2006267004A - Driving support apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support apparatus capable of improving precision in locating vehicles. <P>SOLUTION: The driving support apparatus 10 is provided with: an autonomous positioning part 112 for positioning an autonomous position, the position of a vehicle 800 based on the driving direction and driving speed of the vehicle 800; a storage part 120 for storing road map information Irm containing celestial sphere information Dsp indicating the mode that the celestial sphere CS is shielded by ground objects PF on roads; a satellite selection part 114 for selecting some GPS satellites from among a plurality of GPS satellites 910 to transmit GPS signals on the basis of the celestial sphere information Dsp; a heteronomous positioning part 116 for positioning a heteronomous position, the position of the vehicle 800 based on GPS signals transmitted from selected GPS satellites 910; and an error correction part 118 for correcting accumulated errors, which occur in autonomous positions, through the use of positioned heteronomous positions. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

    The present invention relates to a driving support technology for supporting a vehicle traveling on a road.

  As a driving support technology, a car navigation system (hereinafter referred to as a car navigation system) that provides guidance information for guiding the route of the vehicle to the driver of the vehicle by image or voice using road map information indicating a road map is practical. It has become. In general, car navigation uses an autonomous positioning means that autonomously measures the position of the vehicle based on the traveling direction and the traveling speed of the vehicle, and the global positioning system (GPS) to determine the position of the vehicle in other ways. The position of the vehicle is obtained by comparing the autonomously positioned position (autonomous position) and the irregularly positioned position (other position) with the road map information. Identify (so-called map matching).

  Since the autonomous position is a relative position calculated by measuring the movement of the vehicle from the initial position, the positioning accuracy of the autonomous position decreases if the accumulated error, which is the accumulation of errors that occur every positioning, increases. On the other hand, for other positions, GPS signals (positioning signals) transmitted from GPS satellites (NAVSTAR, positioning satellites) are reflected, diffracted, and scattered by features such as buildings and terrain, that is, multipoint positions, When a path is generated, the distance between the GPS satellite and the positioning point is calculated to be long, so that the positioning accuracy at other positions is lowered. For these reasons, map matching is performed in consideration of the reliability of the autonomous position and the other-order position. For example, when the positioning point is open and GPS signal reception is in good condition, map matching is performed by evaluating the reliability of other positions highly, and GPS signals are detected by features such as valleys and buildings. In the situation where the reception of is deteriorated, the reliability of the autonomous position is highly evaluated and the map matching is performed.

  Conventionally, as a technique for solving a problem related to multipath of GPS signals, Patent Documents 1 and 2 listed below disclose techniques for correcting positioning calculation based on information indicating the possibility of occurrence of multipath.

JP 2000-346655 A JP 2002-214321 A

  However, despite the fact that the influence of multipath changes from moment to moment according to the positioning of GPS satellites as seen from the positioning point, the conventional technology uniformly corrects the positioning calculation according to the possibility of multipath occurrence. Therefore, the positioning accuracy of the vehicle position is not always sufficient.

  In view of the above-described problems, an object of the present invention is to provide a driving support technology that can improve the positioning accuracy of a vehicle position.

  In order to solve the above-described problem, a driving support device according to the present invention is a driving support device that supports a vehicle traveling on a road, and measures an autonomous position that is a vehicle position based on a traveling direction and a traveling speed of the vehicle. An autonomous positioning unit, a storage unit for storing road map information including celestial sphere information indicating a manner in which a celestial sphere on the road is blocked by a feature, and a celestial information for several positioning satellites that transmit positioning signals Using the satellite selection unit that selects based on the position, the other-order positioning unit that measures the other-position that is the position of the vehicle based on the positioning signal transmitted from the selected positioning satellite, and the other-position that has been positioned, And an error correction unit that corrects an accumulated error occurring in the autonomous position.

  According to the driving support device of the present invention, since a GPS satellite can be selected according to the condition of the feature at the positioning point, it is based on the other position determined by effectively suppressing the influence of multipath. The positioning accuracy of the autonomous position can be improved. As a result, the positioning accuracy of the vehicle position can be improved. In particular, the present invention is useful in the case where the position of a vehicle is specified by relying on the autonomous position when there is a continuous feature such as a mountainous area or a city center that is an obstacle to GPS signals.

  The driving support apparatus of the present invention described above can also take the following aspects. The celestial sphere information may include information indicating an azimuth angle and an elevation angle at which the feature exists when viewed from the road. As a result, it is possible to simply show the aspect in which the sky is blocked by the feature at the positioning point, that is, the space opened above the positioning point. The celestial sphere information may be information indicating the positioning accuracy based on the positioning signal from the positioning satellite. Further, the celestial sphere information may be information indicating that the place is suitable for positioning based on a positioning signal from a positioning satellite.

  The road map information includes information defining road nodes indicating reference points on the road, and information defining road links indicating section modes between road nodes, and the celestial sphere information is a reference indicated by the road nodes. Information indicating an aspect in which the celestial sphere in at least one of the sections indicated by the points and road links is blocked by the feature may be used. The road map information includes information that defines lane nodes that indicate reference points on each lane included in the road, and information that defines lane links that indicate section modes between the lane nodes. It may be information indicating an aspect in which the celestial sphere in at least one of the reference point indicated by the node and the section indicated by the lane link is blocked by the feature. By these, celestial sphere information can be simply incorporated into road map information. The road node and lane node for which celestial sphere information is defined may be information indicating an intersection of a road or lane that is relatively open. In addition, the celestial sphere information about the road link and the lane link may be divided into several ranges from the start point to the end point of the link, and the celestial sphere in each range may be indicated. For example, when the start point of the link is 0% and the end point is 100%, the link is divided into a range of 0 to 30%, a range of 30 to 70%, and a range of 70 to 100%. Information may be defined. Further, celestial sphere information may be defined for each section on the road map, and the same celestial sphere information may be applied to all roads included in the section.

  In addition, when selecting some of the plurality of positioning satellites based on the celestial sphere information, the satellite selection unit selects a positioning satellite that is positioned in an elevation direction larger than the feature existing in the same direction as viewed from the road. You may select with priority. Thereby, the influence of the positioning error due to the multipath reaching the positioning point from the GPS satellite obstructed by the feature can be suppressed.

  Further, the satellite selection unit prioritizes the positioning satellites that face each other on the road with respect to the features existing in the predetermined elevation angle direction when selecting some of the plurality of positioning satellites based on the celestial sphere information. You may select it at a reduced level. Thereby, it is possible to suppress the influence of the positioning error due to the multipath which is reflected by the feature facing the GPS satellite and reaches the positioning point.

  The aspect of the present invention is not limited to the driving support device, and a program for causing a computer to realize a function for supporting a vehicle traveling on a road, a driving support method for supporting a vehicle traveling on the road, and the like. The present invention can be applied to various aspects.

  In order to solve the above-described problem, the data structure of the present invention is a data structure of road map information indicating a road map, information defining a node indicating a reference point on the road, and a section mode between the nodes And a reference point indicated by the node, and information indicating a state in which the celestial sphere in at least one of the sections indicated by the link is blocked by the feature. In order to solve the above-described problems, the recording medium of the present invention is a computer-readable recording medium on which road map information having the data structure of the present invention is recorded. According to the data structure and the recording medium of the present invention, it is possible to effectively suppress the influence of multipath on the GPS signal and improve the positioning accuracy. In addition, by handling the road map information having the data structure of the present invention with a navigation system for pedestrians, a mobile phone, a positioning device for surveying, etc., determination of a location suitable for positioning based on a positioning signal from a positioning satellite Can be used.

  In order to further clarify the configuration and operation of the present invention described above, a driving support technology to which the present invention is applied will be described below.

A. Configuration of the driving support device 10:
FIG. 1 is an explanatory diagram showing the configuration of the driving support device 10 mounted on the vehicle 800. A driving support apparatus 10 that is one of the embodiments of the present invention is a car navigation system that is mounted on a vehicle 800 that travels on a road and supports driving of the vehicle 800 such as route search and route guidance. The travel support device 10 exchanges information with a control unit 110 that controls each unit of the travel support device 10, a storage unit 120 that stores road map information Irm indicating a road map, and a vehicle control device 810 that controls the vehicle 800. The vehicle interface unit 130 for performing the operation, the user interface unit 140 for exchanging information with the user driving the vehicle 800, and the GPS reception for receiving the GPS signal from the GPS satellite 910 for positioning the position where the vehicle 800 exists. And a traffic information receiving unit 160 that receives traffic information such as traffic congestion information and traffic regulation information by VICS (Vehicle Information and Communication System) via a beacon 920 or FM multiplex broadcast installed on the road. The control unit 110 is connected to be able to receive various information from the GPS receiving unit 150 and the traffic information receiving unit 160, and is connected to be able to exchange various information with the storage unit 120, the vehicle interface unit 130, and the user interface unit 140. ing.

  The storage unit 120 of the driving support device 10 is a storage device that includes a recording medium 125 that records road map information Irm. In this embodiment, the storage unit 120 is a hard disk drive (Hard Disk Drive, hereinafter referred to as HDD) that employs a hard disk as the recording medium 125, and data stored in the recording medium 125 is based on an instruction from the control unit 110. Updated. The road map information Irm includes a node table TRn and a link table TRk in which various data for indicating a road map based on a road and a reference line along each lane is stored. The node table TRn includes celestial sphere information Dsp indicating a state in which the celestial sphere on the road and its lanes is blocked by the feature. Details of the data structure of the road map information Irm will be described later.

  The control unit 110 of the driving support device 10 searches the road map information Irm for a route on which the vehicle 800 should travel, and generates guidance information for guiding the vehicle 800 according to the searched route. The guidance information includes data for outputting at least one of an image and sound recognizable by a user driving the vehicle 800, and data used by the vehicle control device 810 to control the vehicle 800. In order to identify the position where the vehicle 800 exists, the control unit 110 measures the autonomous position that is the position of the vehicle 800 based on the traveling direction and the traveling speed of the vehicle 800, and a plurality of GPS signals are transmitted. The satellite selection unit 114 that selects some of the GPS satellites 910 based on the celestial sphere information Dsp, and the other position that is the position of the vehicle 800 based on the GPS signal transmitted from the selected GPS satellite 910 is measured. The other-order positioning unit 116 and the error correction unit 118 that corrects the accumulated error occurring in the autonomous position using the measured other-order position are provided. In the present embodiment, the control unit 110 includes a central processing unit (hereinafter referred to as a CPU) that performs various arithmetic processes, and a read-only memory (Read) that stores in advance a program that defines the arithmetic processes executed by the CPU. This is a one-chip microcomputer provided with only memory (hereinafter referred to as “ROM”) and random access memory (hereinafter referred to as “RAM”) that temporarily stores data handled by the CPU. In the present embodiment, the functions of the autonomous positioning unit 112, the satellite selection unit 114, the other-order positioning unit 116, and the error correction unit 118 in the control unit 110 are realized by arithmetic processing of a CPU based on software. Details of the operation of the control unit 110 will be described later.

  The user interface unit 140 of the driving support device 10 includes a remote controller 142 that receives input of information from a user driving the vehicle 800, a display 144 that outputs information as an image to the user driving the vehicle 800, and the vehicle And a speaker 146 for outputting information as a voice to a user driving the 800.

  A vehicle control device 810 of the vehicle 800 controls devices (not shown) related to traveling such as an engine, a power transmission device, a braking device, and a steering device in the vehicle 800. Connected to the vehicle control device 810 are a gyro sensor 812 for detecting the traveling direction of the vehicle 800 and a vehicle speed sensor 814 for detecting the traveling speed of the vehicle 800 as sensors for detecting the behavior of the vehicle 800. The detected information on the behavior of the vehicle 800 is transferred from the vehicle control device 810 to the control unit 110 via the vehicle interface unit 130. The information regarding the behavior of the vehicle 800 transferred to the control unit 110 is used for calculation of the autonomous position.

B. Data structure of road map information Irm:
FIG. 2 is an explanatory diagram showing an example of the node table TRn included in the road map information Irm. FIG. 3 is an explanatory diagram showing an example of the link table TRk included in the road map information Irm. FIG. 4 is an explanatory diagram schematically illustrating the data structure of the road map information Irm. The node table TRn of the road map information Irm shown in FIG. 2 stores a plurality of node attribute information ARn that defines a road and a node Rn that is a reference point on each lane, and the node attribute information ARn includes celestial information. Dsp is included. The link table TRk of the road map information Irm shown in FIG. 3 stores a plurality of link attribute information ARk that defines a link Rk indicating a road section mode between a plurality of nodes Rn. In the present specification and drawings, when each element of the node attribute information ARn, the link attribute information ARk, the node Rn, the link Rk, and the celestial sphere information Dsp is individually indicated, a code with a number after these codes is indicated. Used (for example, ARn1, ARn2, ARn3 ...). Further, in the present specification and drawings, when the same number is added after the signs of the node attribute information ARn, the node Rn, and the celestial sphere information Dsp, the node attribute information ARn includes the node Rn with the same number. It is information including the celestial sphere information Dsp that is defined and assigned the same number (for example, in FIG. 2, the node attribute information ARn2 is information that defines the node Rn2 and includes the celestial sphere information Dsp2). Further, in the present specification and drawings, when the same number is given after the signs of the link attribute information ARk and the link Rk, the link attribute information ARk is information that defines the link Rk with the same number. is there.

  In the example shown in FIG. 4, the nodes Rn1 to Rn9 are defined as characteristic reference points on the road and its lanes, for example, a tolerance point, a branch point, a point where the width changes, etc. A road map is constructed by connecting between two nodes Rn. In the present specification and drawings, the numbers after the link Rk are assigned the numbers after the two nodes Rn to be connected.

  As shown in FIG. 2, each of the node attribute information ARn includes “node ID” for identifying the node Rn specified by the node attribute information ARn, and “coordinates” indicating the position of the node Rn on the map. "Point", "connection link number" indicating the number of links Rk in contact with the node Rn, "connection link ID" for specifying the link Rk connected to the node Rn, and the celestial sphere at the node Rn The celestial sphere information Dsp indicating the mode obstructed by is included. The celestial sphere information Dsp does not need to be included in all the node attribute information ARn, and can be appropriately set according to the road environment. In the present specification and drawings, the codes assigned to the nodes Rn and Rk are used as the identification codes (ID) (for example, the identification code (ID) of the node Rn1 is “Rn1”). .)

  As shown in FIG. 3, each of the link attribute information ARk includes a “road link ID” for identifying the link Rk specified by the link attribute information ARk, and a node Rn to which the link Rk is connected as a starting point. "Start node ID" to indicate, "end node ID" indicating the node Rn to which the link Rk is connected as an end point, "width" indicating the width of the road or lane, and the road or lane section indicated by the link Rk “Section shape data” indicating the shape is included. The section shape data includes coordinate point sequence data and polygon data. In the case where the link attribute information ARk indicates the section mode of the lane, the “lane number” indicating the lane number from the left side in the vehicle traveling direction and the type of the lane “ Lane type "," Right side line type "indicating the line type that divides the right side of the lane toward the vehicle traveling direction, and" Left side area "indicating the line type that divides the left side of the lane toward the vehicle traveling direction. The link attribute information ARk may include “line type” and “traffic regulation information” indicating the traffic regulation status in the lane.

  FIG. 5 is an explanatory diagram showing an example of the celestial sphere information Dsp included in the node attribute information ARn. FIG. 6 is an explanatory diagram schematically showing the data structure of the celestial sphere information Dsp. The celestial sphere information Dsp stores an azimuth angle Hθ and an elevation angle Vθ that indicate the feature PF that blocks the celestial sphere CS at the node Rn in which the celestial sphere information Dsp is defined. The feature PF includes buildings such as buildings, towers, and bridges, and topography such as mountains, hills, and valleys. In this embodiment, the azimuth angle Hθ is defined every 5 ° counterclockwise from the north, and the elevation angle Vθ is defined in the range of 0 ° to 90 ° from the horizontal line for each azimuth angle Hθ. Thereby, the aspect in which the celestial sphere CS at the position of the node Dn is blocked by the feature PF, that is, the space opened above the position of the node Dn can be simply shown. Note that the azimuth angle Hθ does not have to be shown every 5 °, and may be set at arbitrary intervals, and the azimuth angle Hθ and the elevation angle Vθ may be expressed in radians.

C. Operation of the driving support device 10:
FIG. 7 is a flowchart showing cumulative error correction processing executed by the control unit 110 of the driving support device 10. The accumulated error correction process by the control unit 110 is a process for correcting an accumulated error that occurs at an autonomous position measured when performing route search and route guidance. In the present embodiment, the cumulative error correction process of FIG. 7 is a process realized by an operation based on software in the CPU of the control unit 110. In the present embodiment, the control unit 110 executes the cumulative error correction process of FIG. 7 after executing the map matching for specifying the position of the vehicle 800.

  When the control unit 110 of the driving support apparatus 10 starts the cumulative error correction process of FIG. 7, it is determined whether or not the position of the vehicle 800 specified by the map matching is the position of the node Dn in which the celestial sphere information Dsp is defined. Judgment is made (step S110). When the celestial sphere information Dsp is the position of the specified node Dn (step S110), the control unit 110 reads out the celestial sphere information Dsp included in the node attribute information ARn in which the node Dn is specified from the storage unit 120 ( Step S120).

  After reading out the celestial sphere information Dsp (step S120), the control unit 110 selects four GPS satellites 910 suitable for positioning at other positions based on the read out celestial sphere information Dsp. 8 and 9 are cross-sectional views of the celestial sphere CS cut along a predetermined azimuth angle Hθ. For example, as shown in FIG. 8, when a GPS satellite 910 in a predetermined azimuth angle Hθ direction is located in an elevation angle Vsθ larger than the elevation angle Vθ indicating the presence of the feature PF at the predetermined azimuth angle Hθ. The GPS satellite 910 is one of selection candidates. Thereby, the influence of the positioning error due to the multipath reaching the position of the node Dn from the GPS satellite 910 blocked by the feature PF can be suppressed. Further, for example, as shown in FIG. 9, a GPS satellite 910 in a predetermined azimuth angle Hθ direction faces a feature PFf that exists in a direction of a predetermined elevation angle Vfθ (for example, 20 ° or more) with the node Dn interposed therebetween. In this case, since there is a high possibility that the GPS signal is reflected on the feature PFf and the multipath MP is generated, the priority in selecting the GPS satellite 910 is determined to be low. Thereby, it is possible to suppress the influence of the positioning error due to the multipath MP which is reflected by the feature PFf facing the GPS satellite 910 and reaches the position of the node Dn.

  After selecting the GPS satellite 910 (step S130), the control unit 110 receives the GPS signal from the selected GPS satellite 910 from the GPS receiving unit 150, and calculates the other-order position that is the position of the vehicle 800 based on the GPS signal. (Step S140). After calculating the unilateral position (step S140), the control unit 110 corrects the accumulated error occurring at the autonomous position using the calculated unilateral position (step S150). The accumulated error is corrected by resetting the other position calculated in the accumulated error correction process of FIG. 7 as the initial position for calculating the autonomous position. After correcting the accumulated error (step S150), the control unit 110 ends the accumulated error correction process of FIG.

  According to the travel support device 10 of the embodiment described above, since the GPS satellite 910 can be selected according to the situation of the feature PF at the node Dn, the calculation is performed while effectively suppressing the influence of multipath. The positioning accuracy of the autonomous position can be improved based on the other-order position. As a result, the positioning accuracy of the vehicle position can be improved.

D. Other embodiments:
As mentioned above, although embodiment of this invention was described, this invention is not limited to such embodiment at all, Of course, it can implement with various forms within the range which does not deviate from the meaning of this invention. is there. For example, in the present embodiment, the cumulative error correction process shown in FIG. 7 is realized based on software, but may be realized based on hardware. The recording medium 125 for storing the road map information Irm is not limited to a hard disk, and any recording medium that can store the road map information Irm may be used. A DVD (Digital Versatile Disk), a CD (Compact Disk), a semiconductor A memory or the like can be used. Further, the present invention is not limited to application to a car navigation device, but is applied to various devices that handle road map information Irm, such as mobile communication devices with a navigation function and computers having a function of simulating road conditions. be able to.

  In addition, a server for storing the road map information Irm is provided on the network, and the driving support device 10 further includes a network communication unit for connecting to the network by wireless communication, so that the road map information is transmitted via the network. Irm may be acquired. In addition, a server having functions of the autonomous positioning unit 112, the satellite selection unit 114, the other-order positioning unit 116, and the error correction unit 118 of the present embodiment is provided on the network, and the travel support device 10 further includes a network through wireless communication. By providing a network communication unit for connecting to the server, necessary information may be transmitted to the server via the network and guidance information may be received from the server. Moreover, guidance information is not restricted to what produces | generates both user data and control data, Only user data may be produced | generated and only control data may be produced | generated.

FIG. 2 is an explanatory diagram showing a configuration of a driving support device 10 mounted on a vehicle 800. It is explanatory drawing which shows an example of the node table TRn contained in the road map information Irm. It is explanatory drawing which shows an example of the link table TRk contained in the road map information Irm. It is explanatory drawing which illustrates typically the data structure of road map information Irm. It is explanatory drawing which shows an example of the celestial sphere information Dsp contained in node attribute information ARn. It is explanatory drawing which shows typically the data structure of the celestial sphere information Dsp. 4 is a flowchart showing cumulative error correction processing executed by a control unit 110 of the driving support device 10. It is sectional drawing which cut | disconnected the celestial sphere CS along predetermined | prescribed azimuth angle H (theta). It is sectional drawing which cut | disconnected the celestial sphere CS along predetermined | prescribed azimuth angle H (theta).

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Driving assistance device 110 ... Control part 112 ... Autonomous positioning part 114 ... Satellite selection part 116 ... Other-sized positioning part 118 ... Error correction part 120 ... Memory | storage part 125. ..Recording medium 130 ... Vehicle interface unit 140 ... User interface unit 142 ... Remote control 144 ... Display 146 ... Speaker 150 ... GPS receiver 160 ... Traffic information receiver 800. .. Vehicle 810 ... Vehicle control device 812 ... Gyro sensor 814 ... Vehicle speed sensor 910 ... GPS satellite 920 ... Beacon Irm ... Road map information TRn ... Node table TRk ... Link table ARn ... node attribute information ARk ... link attribute information Rn ... node Rk ... link CS ... celestial sphere MP ... multipath PF, PFf ... feature Hθ ... direction Angle Vθ, Vfθ, Vsθ ... Elevation angle

Claims (10)

A driving support device for supporting a vehicle traveling on a road,
An autonomous positioning unit that measures an autonomous position that is a position of the vehicle based on a traveling direction and a traveling speed of the vehicle;
A storage unit for storing road map information including celestial sphere information indicating a mode in which a celestial sphere on the road is blocked by a feature;
A satellite selector that selects some of a plurality of positioning satellites that transmit positioning signals based on the celestial sphere information;
A unidirectional positioning unit that measures the unilateral position that is the position of the vehicle based on a positioning signal transmitted from the selected positioning satellite;
A travel support apparatus comprising: an error correction unit that corrects a cumulative error that occurs in the autonomous position using the measured other position.   The travel support apparatus according to claim 1, wherein the celestial sphere information includes information indicating an azimuth angle and an elevation angle at which the feature is present when viewed from the road. The driving support device according to claim 1 or 2,
The road map information is
Information defining a road node indicating a reference point on the road;
Information defining a road link indicating a section mode between the road nodes, and
The celestial sphere information is information indicating a state in which a celestial sphere in at least one of a reference point indicated by the road node and a section indicated by the road link is blocked by a feature. The driving support device according to any one of claims 1 to 3,
The road map information is
Information defining a lane node indicating a reference point on each lane included in the road;
Information defining a lane link indicating a section aspect between the lane nodes, and
The celestial sphere information is information indicating a state in which a celestial sphere in at least one of a reference point indicated by the lane node and a section indicated by the lane link is blocked by a feature.   The satellite selection unit is located in an elevation direction larger than the feature existing in the same direction as viewed from the road when selecting some of the plurality of positioning satellites based on the celestial sphere information. The driving support device according to claim 1, wherein the positioning satellite is preferentially selected.   The satellite selection unit, when selecting some of the plurality of positioning satellites based on the celestial sphere information, the positioning satellites that face each other across the road with respect to the feature existing in a predetermined elevation angle direction. The driving support device according to claim 1, wherein the driving support device is selected with a lower priority. A program for causing a computer to realize a function of supporting a vehicle traveling on a road,
A function of positioning an autonomous position that is a position of the vehicle based on a traveling direction and a traveling speed of the vehicle;
A function of storing road map information including celestial sphere information indicating a mode in which a celestial sphere on the road is blocked by a feature;
A function of selecting a plurality of positioning satellites that transmit positioning signals based on the celestial sphere information;
A function of positioning the other position which is the position of the vehicle based on a positioning signal transmitted from the selected positioning satellite;
The program which implement | achieves the function which correct | amends the accumulated error which arises in the said autonomous position using the said measured other-order position. A driving support method for supporting a vehicle traveling on a road,
Positioning an autonomous position which is a position of the vehicle based on a traveling direction and a traveling speed of the vehicle;
Preparing road map information including celestial sphere information indicating a mode in which the celestial sphere on the road is blocked by a feature,
Select several positioning satellites that transmit positioning signals based on the celestial sphere information,
Positioning the other position which is the position of the vehicle based on the positioning signal transmitted from the selected positioning satellite;
A travel support method for correcting a cumulative error occurring at the autonomous position using the measured other-order position. A data structure of road map information indicating a road map,
Information defining a node indicating a reference point on the road;
Information defining a link indicating a section mode between the nodes;
A data structure comprising: a reference point indicated by the node; and information indicating an aspect in which a celestial sphere in at least one of the sections indicated by the link is blocked by a feature.   A computer-readable recording medium on which road map information having the data structure according to claim 14 is recorded.

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