JP2006337213A - Network data for matching, preparing method of network data for matching, navigation system having network data for matching, path research server, and navigation terminal device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a network data for matching capable of improving the accuracy of matching processing, its preparing method, and a navigation system using it. <P>SOLUTION: The network data for matching is used for matching the current position of a moving body on a link of the network data expressed by the link for connecting between a node and a node. The network data for matching is constituted by setting nodes N1-N4 in the midway of respective roads connected to the intersection points and setting links L1-L4 each of which connects between the nodes via the intersection points without setting nodes at the intersection points of roads in road network data. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

The present invention relates to a navigation system for matching a current position measured using satellite navigation or autonomous navigation with a link on road network data in an in-vehicle or pedestrian navigation system, and in particular, matching accuracy is improved. The present invention relates to a matching network data that can be improved, a method for creating matching network data, and a navigation system, a route search server, and a navigation terminal device that have matching network data.
This network data for matching is different in configuration from the road network data for route search. Nodes are not set at branch points but nodes are set in the middle of links connected to branch nodes. In this configuration, a plurality of links that pass through a branch point and reach other nodes are connected.

  2. Description of the Related Art Conventionally, navigation devices and navigation systems that guide a user by searching for a route from a desired departure point to a destination using map data and road data are known. Such navigation devices and navigation systems are known. As a car navigation device that is installed in a car and guides the route to the driver, a mobile phone is used as a navigation terminal to send a route search request to the route search server, receive the result, and receive route guidance Navigation systems have been put into practical use.

  In particular, the communication-type navigation system is a system that uses a mobile terminal such as a mobile phone as a navigation terminal, and is also used as a navigation system for pedestrians. As a navigation system for pedestrians, it is preferable to add a route guidance function including transportation, and in addition to searching and guidance for walking routes, train time data is stored in a route search server, There is also a navigation system that has a function of guiding a route (boarding candidate train) to a desired destination station in addition to searching and guiding a walking route.

  There is also known a route search system that searches and guides a route from a departure place to a destination using transportation means such as an airplane, a train, a train, and a bus. In general, such a route search system is an operation data DB (in which operation data of each transportation facility is converted into a database on the basis of route search conditions such as departure date and time, departure place, destination and arrival time specified by the user. Database)), each of the available transportation means connecting the departure point and the destination, including connections, is sequentially traced as a route, and one guide route (transportation means such as a train) that matches the route search condition is selected as one. Configured to present one or more. As route search conditions, it is generally possible to specify conditions such as required time, number of transfers, and fares.

  For example, when the road network for route search in the pedestrian navigation system or the car navigation system includes roads A, B, and C as shown in FIG. 11, the end points, intersections, bending points, etc. of the roads A, B, and C The road connecting each node is represented by a directional link, and node data (node latitude / longitude), link data (link number) and link cost (link distance or link travel) of each link The road network data is composed of link cost data using the required time required for data). That is, in FIG. 11, ◯ and ◎ indicate nodes, and ◎ indicates a road intersection. Directional links connecting the nodes are indicated by arrow lines (solid line, dotted line, two-dot chain line). As for the links, there are links facing in the upward and downward directions of the road, but in FIG. 11, only the links in the direction of the arrows are shown for the sake of simplicity.

  When route search is performed using such road network data as a route search database, links linked from the starting node to the destination node are traced to accumulate the link cost, thereby minimizing the accumulated link cost. Search and guide the route. That is, in FIG. 11, when a route search is performed with the departure point as the node AX and the destination as the node CY, the road travels from the node AX along the road A, turns right at the second intersection, enters the road C, and reaches the node CY. The link cost is accumulated sequentially, and a route that minimizes the accumulated link cost is searched for and guided. Although other routes from the node AX to the node CY are not shown in FIG. 11, in reality there are other such routes, so a possible route from the node AX to the node CY is similarly searched. Of these routes, the route with the lowest link cost is determined as the optimum route. This method is performed by, for example, a known method called the Dijkstra method.

  The road network as described above is static network data in which the link cost is fixed as schematically shown in FIG. 11 and the accumulated link cost is uniquely determined when the route is determined. It is proportional to the amount of network. The same applies to the operation network data of the transportation system, and the data of the road network where the bus route is set is used as the data of the route network.

  Currently, there is also a route bus operation management system using such a navigation system. Such an operation management system, for example, installs a mobile terminal on a vehicle on each route bus, measures the current position and performs matching processing on the route network, grasps the operation position of each vehicle, and Is a system that displays a scheduled time of arrival of a vehicle, detects traffic congestion on a road, and manages a history of vehicle allocation and vehicle operation.

  In general, in a navigation system as described above, a navigation terminal device is equipped with a GPS receiver as positioning means. This positioning means receives and processes GPS satellite signals transmitted by a plurality of GPS satellite signals, and measures the current position (latitude / longitude). This method is called satellite navigation. GPS satellite signals cannot be received in tunnels or underground, and GPS signals are reflected in places where buildings are densely packed, resulting in poor positioning accuracy.

  For this reason, in-vehicle navigation devices and the like are provided with positioning means for positioning the current position by providing an acceleration sensor, a steering angle sensor, a gyroscope, a vehicle speed sensor, and the like. This positioning method is called each autonomous navigation. Recently, there have also appeared devices for a pedestrian navigation terminal device using a mobile phone as a navigation terminal device, which are equipped with an attitude detection sensor and a gyro and combined with a positioning function based on autonomous navigation.

  It is well known that the current position by the positioning means using the GPS receiver includes a calculation error in the processing of the GPS satellite signal. In general, the GPS single positioning accuracy is just over 10 m, and the position (latitude / longitude) measured by the GPS positioning means may be off the road. The matching process is a process for correcting a deviation from the road due to this error. Normally, it is a process that extracts the road closest to the current position (positioned latitude / longitude), and draws a perpendicular to the road from the current position, and corrects the intersection with the road as the current position (corrected latitude / longitude). . Such a processing method is called a projection method. A method of performing the above processing using road data on a map is called map matching, and a method of performing the above processing using route data searched by the route search server is called route matching.

  In addition, the position information measured by the autonomous navigation means measures the current position by accumulating the movement distance and direction change measured by various sensors from the own vehicle position measured last time, and the positioning error is accumulated. go. In this case, matching processing is also required. In general, positioning by satellite navigation using GPS can determine the absolute position of the vehicle, so positioning results by satellite navigation are used in places where the sky is open and GPS satellite signals are well received.

  By performing the matching process and correcting the positioning error of the vehicle position, when displaying the vehicle position on the map, it can be displayed correctly on the road that is the guide route, and the user can Driving can be continued while confirming that the vehicle is traveling on a road that is a guide route. Therefore, when a matching error occurs, the vehicle position is displayed on a road that is off the guide route, and the user mistakes that the vehicle is off the guide route even though the user is driving on the guide route. It will end up.

  On the other hand, if the current position deviates from the guidance route and the deviation exceeds a certain range (elapsed time or a certain distance), the route that was guided in the initial route search becomes useless. It is necessary to re-search the guidance route from the starting point to the destination and redistribute it to the navigation device. This re-search process is referred to as a reroute process.

  In other words, the matching process is intended to notify the user whether or not the vehicle position is correctly traveling on the road that is the guide route when the vehicle position is displayed on the map, and the vehicle position is within a certain range from the guide route. When deviating from the above, the reroute processing is started, and this is performed for the purpose of searching again for the guide route to the destination.

  The map matching process is usually performed using road network data (see FIG. 11) for route search. If there are multiple roads that should be matched to the current position, the corrected current position is not on the original route (the shortest route from the starting point to the destination searched by the route search). In some cases, an error that is erroneously corrected occurs on another adjacent road. In particular, an error is likely to occur in a matching process particularly in a road structure where the road branches at a narrow angle and the branched roads are parallel at a narrow interval after the branch point.

  When such a matching processing error occurs, as described above, the user is erroneously determined to have deviated from the guide route even though the correct guide route is being traveled. When the range of deviation from the guide route exceeds a certain range, the reroute process is activated even if the vehicle is traveling on the correct guide route, resulting in waste of the route search process.

  As a result of the reroute processing, when a new guidance route is transmitted to the navigation terminal device, a new guidance route starting from another road is used although it is actually traveling on the original correct guidance route. The travel route temporarily becomes useless, for example, the travel route is changed or the current position returns to the original guide route after a lapse of time and the user continues to travel until the reroute is performed again.

  Therefore, the matching process is required to be accurate, and various techniques for improving this precision have been performed. For example, an “in-vehicle navigation device” disclosed in the following Patent Document 1 (Japanese Patent Laid-Open No. 8-68656) is known.

In the in-vehicle navigation device disclosed in Patent Document 1, a guidance route connecting a departure place and a destination is searched in advance by a route search unit and stored in a guidance route storage unit. Based on the detected vehicle position of the GPS receiver, the map matching unit selects a plurality of matching candidate roads near the vehicle position by using map data around the vehicle position stored in a memory such as a CD-ROM, and guide routes among them When there is, the priority of the guidance route is increased to determine one matching candidate road, and the vehicle position is corrected on the determined matching candidate road.
In addition, the map image drawing unit draws a map image including the corrected vehicle position on the video RAM together with the guidance route using the map data around the vehicle position, and further, a vehicle position mark at a position corresponding to the corrected vehicle position on the map image. Draw. An image in the video RAM is read by a video conversion unit, converted into a predetermined video signal, output to a display device, and displayed on a screen.

  That is, the in-vehicle navigation device disclosed in Patent Document 1 tries to improve the accuracy of matching processing by giving priority to the guidance route when there are a plurality of matching candidate roads including the guidance route. It is.

  As described above, an error is likely to occur particularly in a matching process at a road structure where the road branches at a narrow angle and the branched roads are parallel at a narrow interval after the branch point. Also, when branching from a main road to a side road, the matching process is likely to be erroneous because the main road and the side road remain very close. For example, as shown in FIG. 13, at a branch node N1, the road branches into links L1 and L2 at a narrow angle, and the branched links L1 and L2 run in parallel for a while, and the link L2 is a three-dimensional intersection below the link L1 or A matching process using the projection method in the case of a road structure that passes above and the guide route is a route that travels through L2 and travels straight through node N3 to link L3 will be described.

  In FIG. 14, the current positions P1 to P4 measured at each time point are indicated by crosses, and there is no problem if the current position is matched with the link L2 that is the guide route, but the distance between the link L2 and the link L1. May be an error that is matched to the link L1 that is not a guide route. That is, since the positioning position is separated from the link L2 by a predetermined distance or more at the moment when the positioning data of the positioning point P4 in FIG. 14 is obtained, the matching process is performed. Since the navigation terminal device 20 is traveling on the link L2, it is only necessary to perform the matching process on the position Pa. However, since the link closest to the current position P4 that has been measured is the link L1, the position Pb is determined by the projection method. Will be matched.

  When a mucking error occurs in this way, the vehicle position displayed on the display means deviates from the link L2, which is a guide route, and there is a problem in that it is displayed on the link L1. In the route bus vehicle operation management system, it is necessary to accurately grasp the position of each bus vehicle and accurately manage the operation status, and it is desired to improve the matching accuracy.

  When this error exceeds a certain range (time or travel distance), a route reroute (research request) occurs. As a result of the reroute, the newly searched route goes straight on link L1 to node N2, turns right at node N2 and travels on link L4 to node N4, turns right on node N4 and links L5 to node N3 It is a route that travels and reaches the link L3, which is the original guide route even if the node N3 turns left. In this case, since the current position has been matched to another road, the result of the reroute process will generate an incorrect guidance voice, which will confuse the user and prevent such problems. preferable.

  In addition, since the actual vehicle position is on the link L2, which is the initial guide route, this reroute process is a wasteful process and causes the inconvenience that the user is confused. From this point of view, it is desired to improve the matching accuracy.

As a technique for solving such a problem, a “navigation device” disclosed in the following Patent Document 2 (Japanese Patent Application Laid-Open No. 2004-271293) is known. The navigation device disclosed in Patent Document 2 includes a display unit and history position information D that stores current position display information.
B, a position information receiving unit that acquires current position information from the GPS, a position information analyzing unit that analyzes the current position information and calculates the current position, a MAPDB that stores map information, a vehicle speed pulse value, and a progression A predicted moving distance and a predicted moving direction are calculated from a measuring unit that measures a direction, a vehicle speed pulse and a traveling direction, and immediately preceding current position display information, and positioning position information is calculated based on the current position and map information. A central processing unit, a position information DB that stores the calculated predicted movement distance, predicted movement direction, and positioning position information, and a tolerance table DB that stores a threshold table of a tolerance range are configured.

  In this navigation apparatus, the central processing means calculates the predicted movement position of the vehicle from the predicted movement distance and the predicted movement direction stored in the position information storage means, and stores them in the predicted movement position and the allowance table storage means. A predicted position range is determined based on the threshold value table, the positioning position information stored in the position information storage means is compared with the predicted position range, and if the positioning position information is within the predicted position range, positioning is performed. The position information is the current position display information, and if the positioning position information is outside the predicted position range, the predicted movement position is the current position display information.

  The applicant of the present application has already filed a patent application for the invention of Japanese Patent Application No. 2005-013957 for the purpose of improving the accuracy of matching processing in route bus operation management.

  In the invention disclosed in Japanese Patent Application No. 2005-013957 (hereinafter referred to as “Prior Application 1”), a mobile terminal device installed in a route bus vehicle and an operation management server are connected via a network. It is comprised so that. The mobile terminal device includes position detection means for detecting a position based on satellite navigation, autonomous navigation means, communication means, matching means, and route data storage means for storing route network data. The network data is composed only of network data of a predetermined bus route, and the matching means matches the current position data detected by the position detection means to the route network data, and the matching current position data is sent to the communication means. It is comprised so that it may transmit to an operation management server via.

  In the prior application 1, autonomous navigation was used without using GPS positioning means in areas where buildings were crowded around the bus terminal in front of the station and matching errors were likely to occur due to multipath effects in GPS positioning. Positioning and matching processing are performed using positioning means.

  FIG. 12 is a schematic diagram showing an example of road network data for route search at a bus terminal in front of a station. The station square is basically a roundabout on the right. There are two routes in front of this station. FIG. 12 shows a route that takes a route R1 that enters the bus terminal in front of the station from the upper side of FIG. 12 and exits the bus terminal, and a route that takes routes R2 and R3 that pass through the station in the left-right direction. Since the station square is a clockwise roundabout, the road network is configured as a node N shown in FIG. 12 (marked with a circle in the figure) and a link L (solid line in the figure) connecting each node. T1 to T3 indicate bus stops on the respective routes.

  Nodes N are placed at intersections, branch points, and junctions as in a general vehicle-mounted navigation system, and are connected by relatively short links. General vehicles are prohibited from passing at the bus terminal in front of the station. When the navigation system is intended for bus vehicles, it is necessary to add network data for roads dedicated to buses to normal road network data. When the navigation system targets only bus vehicles, it can be road network data only for bus routes as in the first application.

  In a network composed of such fine links, since there are many intersections and branches (which were considered natural), the frequency of erroneous matching increases. For example, since nodes N1 to N3 and links L1 to L3, which are typically given reference numerals in FIG. 12, are placed at intersections, branch points, and junctions, they are connected by short links, so they are narrow. Links are provided close to the range, and the frequency of erroneous matching processing is increased in the same manner as in the place of the road structure as shown in FIG.

JP-A-8-68656 (FIGS. 1 and 5) JP 2004-271293 A (FIGS. 1 and 4)

  As mentioned above, as shown in FIGS. 13 and 14, an error occurs in the matching process particularly in a road structure where the road branches at a narrow angle and the branched roads are parallel at a narrow interval after the branch point. easy. In addition, buildings such as bus terminals in front of the station are densely packed around, and matching errors are likely to occur due to the influence of multipath in GPS positioning.

  However, in the in-vehicle navigation device disclosed in the above-mentioned Patent Document 1, matching processing is performed with priority on the guidance route, as long as the premise that the vehicle is traveling correctly according to the guidance route is satisfied. However, when the vehicle is traveling off the guidance route, there is a problem that incorrect matching is performed.

  In the technique disclosed in Patent Document 2, a certain threshold range is set, and if the current position measured by GPS is within the threshold range, the positioning position is set as the current position. However, there is a problem that there is no guarantee that accurate matching can be performed at a road structure where the road is branched at a narrow angle and the branched roads are parallel to each other at narrow intervals after the branch point.

  In addition, the invention disclosed in the prior application 1 is effective in matching processing of a bus vehicle or the like that travels on a certain route set like a bus route, but each time the bus route changes, the route network There is a problem that it is necessary to exchange data, and there is a problem that it cannot be applied to general vehicles.

  The inventor of the present application has made various studies to solve the above problems, and as a result, the road network data conventionally used for matching processing sets nodes at intersections, branch points, and junctions, and links between the nodes. In order to complete the present invention, it is found that the frequency of erroneous matching processing is increased as a result of the fact that a plurality of different links are provided close to a narrow area in these places. It has come.

  That is, the inventor of the present application has a different configuration from the road network data for route search, does not set a node at a branch point, sets a node in the middle of a link connected to an intersection, a branch point, or a junction point, Even in complex road structures such as in front of a station, nodes are provided by providing network data for matching that connects each node through multiple links from nodes to intersections, branch points, and junctions to other nodes. The present invention has been completed with the idea that matching errors at intersections, branching points and junctions can be reduced or corrected correctly by reducing the number of matching points, and matching accuracy can be improved. It is.

  An object of the present invention is to solve the above-described problems, and to improve the accuracy of matching processing, network data for matching, a method for creating network data for matching, and a navigation system having network data for matching, An object of the present invention is to provide a route search server and a navigation terminal device.

In order to solve the above-mentioned problem, the invention according to claim 1 of the present application is
Network data for matching for matching the current position of a moving object on a link of network data represented by a link connecting the nodes,
The matching network data sets a node in the middle of each road connected to the intersection without setting a node at an intersection where roads intersect in the road network data, and passes the intersection via the intersection. It is characterized in that one link is set between each node.

  The invention according to claim 2 of the present application is the network data for matching according to the invention of claim 1, wherein the network data for matching is from the node set before the intersection in the traveling direction of the moving object. Accordingly, the present invention is characterized in that one link is set between each of the nodes set on the movable route.

  The invention according to claim 3 of the present application is characterized in that, in the network data for matching according to claim 1 or 2, the links have the same coordinate data in the same road section.

The invention according to claim 4 of the present application is
A method for creating network data for matching for matching a current position of a moving object on a link of network data represented by a link connecting nodes.
Setting a node in the middle of each road connected to the intersection without setting a node at the intersection where the roads intersect in the road network data;
And setting one link each connecting the nodes via the intersection.

  Further, the invention according to claim 5 of the present application is the method for creating network data for matching according to the invention of claim 4, and is movable along the traveling direction of the moving body from the node set before the intersection. The method includes a step of setting one link connecting all nodes set in a simple route.

  The invention according to claim 6 of the present application is the method of creating network data for matching according to claim 4 or 5, wherein the same coordinate data is assigned to each link in the same road section. It is characterized by including.

The invention according to claim 7 of the present application is
A navigation system comprising positioning means for positioning a current position, and having network data for matching for matching a current position of a moving object on a link of network data expressed by a link connecting nodes.
The matching network data sets a node in the middle of each road connected to the intersection without setting a node at an intersection where roads intersect in the road network data, and passes the intersection via the intersection. A navigation system having network data for matching, characterized in that it is configured by setting one link connecting each node.

The invention according to claim 8 of the present application is the navigation system having network data for matching according to the invention of claim 7,
It is characterized in that it is configured by setting one link connecting each node set in a path movable along the traveling direction of the moving body from the node set before the intersection. To do.

Further, the invention according to claim 9 of the present application is the navigation system having network data for matching according to the invention of claim 7 or claim 8,
Each link has the same coordinate data in the same road section.

The invention according to claim 10 of the present application is
Route search that comprises a navigation system having network data for matching for positioning the current position of a moving body on a link of network data represented by a link connecting nodes between nodes, with positioning means for positioning the current position A server,
The route search server sets a node in the middle of each road connected to the intersection without setting a node at an intersection where roads intersect in the road network data, and passes the intersection It is characterized by comprising network data for matching configured by setting one link each connecting nodes.

  The invention according to claim 11 of the present application is the route search server according to claim 10, wherein a route that is movable along the traveling direction of the moving body is set from the node set before the intersection. It is characterized in that it is configured by setting one link connecting all the nodes.

  The invention according to claim 12 of the present application is characterized in that in the route search server according to claim 10 or claim 11, each link has the same coordinate data in the same road section.

The invention according to claim 13 of the present application is
A navigation terminal comprising positioning means for positioning the current position, and constituting a navigation system having network data for matching for matching the current position of the moving body on a link of network data expressed by a link connecting the nodes. A device,
The route search server sets a node in the middle of each road connected to the intersection without setting a node at an intersection where roads intersect in the road network data, and passes the intersection It is characterized by comprising network data for matching configured by setting one link each connecting nodes.

  Further, the invention according to claim 14 of the present application is the navigation terminal device according to claim 13, wherein a route that is movable along the traveling direction of the moving body is set from the node set before the intersection. It is characterized in that it is configured by setting one link connecting all the nodes.

  The invention according to claim 15 of the present application is the navigation terminal device according to claim 13 or claim 14, wherein each link has the same coordinate data in the same road section.

In the first and second aspects of the invention, the network data for matching is stored in the middle of each road connected to the intersection without setting a node at the intersection where the road intersects in the road network data. And one link connecting each of the nodes via the intersection is set.
Therefore, since the estimated positions are continuously maintained on all links that may pass through at intersections and branch points where matching errors are likely to occur, the accuracy of matching can be improved. It is possible to return to the correct current position. For this purpose, the travel distance (travel distance) after passing the node is obtained by the autonomous navigation means, and based on this, the point information indicating the estimated positions on all the links that may travel is stored in the storage means. Then, a process of obtaining the moving direction by the autonomous navigation means and selecting a point on the link that matches the moving direction as the matching position may be performed.

In the invention according to claim 3, in the network data for matching according to the invention of claim 1 or 2, each link has the same coordinate data in the same road section.
Therefore, even if the matching link is wrong, the correct position can be output as a result in the section having the same coordinates as the correct link.

  In the invention according to claims 4 to 6, the network data for matching of the invention according to claims 1 to 3 can be provided, respectively.

In the invention according to claims 7 and 8, the navigation system sets a node in the middle of each road connected to the intersection without setting the node at the intersection where the roads intersect in the road network data. And network data for matching configured by setting one link connecting the nodes via the intersection.
Therefore, since the estimated positions are continuously maintained on all links that may pass through at intersections and branch points where matching errors are likely to occur, the accuracy of matching can be improved. It is possible to return to the correct current position.

In the invention according to claim 9, in the navigation system according to claim 7 or claim 8, each link has the same coordinate data in the same road section.
Therefore, even if the matching link is wrong, the correct position can be output as a result in the section having the same coordinates as the correct link.

  In the invention according to claims 10 to 12, it is possible to provide a route search server constituting the navigation system of the invention according to claims 7 to 9, respectively.

  In the inventions according to the thirteenth to fifteenth aspects, it is possible to provide navigation terminal devices that constitute the navigation systems according to the seventh to ninth aspects of the present invention.

  Hereinafter, specific examples of the present invention will be described in detail with reference to examples and drawings. 1 to 3 are schematic diagrams for explaining the node configuration and link configuration of network data for matching on a road in front of a bus station in front of a station. FIG. 4 is another diagram of the configuration of network data for matching on a general road. It is a schematic diagram which shows an example. In the following description, intersections, branch points, and junctions are collectively referred to simply as branch points.

  As shown in FIGS. 1 to 4, the network data for matching according to the embodiment of the present invention has a different configuration from the road network data for route search, and is connected to the branch point without setting a node at the branch point. A node is set in the middle of the link, and a configuration in which each node is connected by a plurality of links indicating paths from each node to the other node through a branch point.

  That is, FIGS. 1 to 3 conceptually show the configuration of matching network data created by the creation method according to the present invention for the road network (bus route network) at the bus terminal in front of the station described in FIG. . As shown in FIG. 1, in the network data for matching according to the present invention, nodes N1 to N4 are set in the middle of links connected to the branch points C1 to C9 without setting nodes to the branch points C1 to C9.

  As shown in FIG. 2, the link connecting the nodes N1 to N4 includes a link L1 corresponding to a route R1 (see FIG. 12) that enters the bus terminal from the node N1 and then returns to the return node N1 via the node N3. It is composed of a link L2 corresponding to the route R2 passing through the node N2 and the node N4 in the direction, and links L3 and L4 corresponding to the route R3 entering the station from the node N2 and exiting the node N4 via the node N3. .

  In this way, in the conventional network data, there is one link having a specific direction connecting the nodes (the link is directional, and usually consists of two links, uplink and downlink, unless one-way) However, in the network data for matching according to the present invention, a plurality of links exist in the same direction on one road (on the road having the same coordinates) as the links L1 and L3 in FIG. Links with the same coordinates actually overlap, but in FIG. 2, they are shown separated for convenience of explanation. A matching processing method for determining which link matches the current position measured by the navigation device will be described in detail later.

  The route of the route R2 that passes through the node N2 and the node N4 in the left-right direction and the route R3 that enters from the node N2 in front of the station and exits to the node N4 through the node N3 is the node N3 in front of the station (stop T2: see FIG. 1) ) Is the end point, and there is an operating vehicle that turns back with this node N3 (stop T2) as the first departure, the route (route network) is set by setting the thick link La and link Lb as shown in FIG. Can be represented.

  The network data for matching according to the present invention can be configured not only for roads at bus terminals as shown in FIGS. 1 and 2, but also for general road networks as shown in FIG. In FIG. 4, the road branches at a branch point C1 into a straight road and a left turn road, branches at a branch point C2 into a straight road and a right turn road, and branches at a branch point C3 into a straight road, a right turn road, and a left turn road. Nodes are not set at the branch points C1 to C3, and nodes N1 to N8 are set in the middle of the roads connected to the branch points C1 to C3. The links L1 to L8 are only shown in one direction for the sake of simplicity.

  The nodes N1 to N8 are connected by links L0 to L8. For example, the node N1 and the node N2 are connected by a link L2, and the node N1 and the node N3 are connected by a link L1. Similarly, the node N3 and the node N4 are connected by the link L4, the node N3 and the node N5 are connected by the link L3, the node N5 and the node N7 are connected by the link L7, and the node N5 and the node N8 are connected by the link L8. Nodes N5 and N6 are connected by a link L5.

  Accordingly, a section in which a plurality of links in the same direction are set on the same road as in FIG. For example, a link L1 and a link L2 are set between the node N1 and the branch point C1, and similarly, between the node N3 and the branch point C2, the link L3 and the link L4, and from the node N5 to the branch point C3. Three links of link L5, link L7, and link L8 are set in between.

  Next, the concept of matching processing using the network data for matching according to the present invention shown in FIGS. 1 to 4 will be described with reference to FIG. As shown in FIG. 5, in the network data for matching, nodes N1 to N4 are set in the middle of the road connected to the branch point C1, and the link L1 goes straight from the node N1 to the branch point C1, and the link turns left at the branch point C1. A link L3 that turns right at L2 and the branch point C1 is set.

  The navigation terminal device has satellite navigation means and autonomous navigation means automatic as positioning means, and in the matching process, the autonomous navigation means can obtain the travel distance (travel distance) after passing the node and proceed based on this. The point information indicating the estimated positions on all the links having the characteristics is stored in the storage unit, the moving direction is obtained by the autonomous navigation unit, and the point on the link that matches the moving direction is selected as the matching position.

  If such matching processing is performed using network data for matching as shown in FIGS. 1 to 4, estimation is performed on all links that may pass at intersections and branch points where matching errors are likely to occur. Since the position is continuously maintained, the accuracy of matching can be improved, and it is possible to return to the correct current position.

  The navigation terminal device includes a positioning means selection unit, and is configured to select a positioning means with higher positioning position reliability according to a GPS signal reception status, a road (link) structure, and the like to obtain a current position. Yes. In the matching process after the navigation terminal device passes through the node N1 on the link connected to the branch point C1, the links that the host vehicle can take are three directions L1 to L3. Based on the travel distance (travel distance) after passing through the node N by the autonomous navigation means, the matching processing means uses the estimated arrival positions on all the above links L1 to L3 as point information (P11 to P13). Store in the storage means. It is assumed that the positioning position at this time is P1.

  The travel distance (travel distance) of the navigation terminal device after passing through the node N can be calculated from the positioning history by the satellite navigation means (GPS), but the error is accumulated and the error is larger than the distance measurement by the autonomous navigation means. Therefore, it is preferable to use the distance traveled by the autonomous navigation means.

  Further, when the navigation terminal device travels and the positioning position becomes P2, the same processing is performed, and the estimated arrival positions on all the links L1 to L3 are stored as point information (P21 to P23) based on the travel distance. Store in the means. Hereinafter, each time the positioning position is obtained, the point information on each of the links L1 to L3 is sequentially stored.

  Next, the matching processing means calculates the traveling direction (azimuth) of the navigation terminal device from the data of the positioning positions P1 and P2 or the output of the steering angle sensor provided in the autonomous navigation means, and matches (or is closest to) this orientation. Identify links with orientation. In the case of FIG. 5, the link L2 is a link having the azimuth closest to the traveling direction, that is, a point on the link, that is, in the case of FIG. Is selected as the matching position.

  When the satellite navigation means is selected by the positioning means selection unit, the traveling direction (azimuth) is calculated from the positioning history by the satellite navigation means 212 (GPS) in the same manner as when the autonomous navigation means is selected, and the traveling direction The matching position can be selected by specifying the link with the closest azimuth to, but if the error is large, the estimated position closest to the positioning position (current position) measured by the satellite navigation means is used as the matching position. Just choose.

  When the navigation terminal device 20 travels on one of the links L1 to L3 and reaches the next node, the point information stored in the point storage means is reset, and the node set on the road connected to the next branch point The same matching process as described above is executed for each link from. In this way, if the configuration is such that the point information of each candidate link is reset when a new node is reached, the point information of the candidate links to be tracked will not increase unilaterally. Alternatively, the candidate link tracking load can be reduced by not tracking (maintaining) the point information of the candidate link exceeding the predetermined location.

  Note that which of the satellite navigation means and the autonomous navigation means uses the positioning information is determined by the positioning means selection unit discriminating which one has higher reliability. As described above, since there is an error of about 10 m in the positioning result of the satellite navigation means, it is determined whether the link of the guide route and the link of another road adjacent to the radius within the range of 10 m exist. If there are links of other roads, the result of positioning by autonomous navigation means is used. In order to make a determination with a margin, the determination range may be a range within 20 m instead of within 10 m.

  Even in the case of branching in a tunnel, since the satellite navigation means (GPS) cannot be used, the autonomous navigation means is selected. If an area where the influence of multipath is large is specified, the autonomous navigation means is selected in the same manner. Note that when the reliability of the satellite navigation means (GPS) is high, a link that is too far from the positioning position by GPS is not a candidate link, and the processing load of the control means is not maintained (stored). May be lightened (for example, a determination is made that candidate links that have sufficient GPS reliability and are 200 m or more away from the GPS positioning position are not considered).

  FIG. 6 is a schematic diagram for explaining the concept of the above positioning means selection. The matching network data in FIG. 6 corresponds to the road structure in FIG. When the navigation terminal device passes through the node N1 set before the branch point C1, two links L1 and L2 are set as the links passing through the branch point C1, and based on the travel distance obtained from the autonomous navigation means. Thus, the position information of the estimated positions on the links L1 and L2 that are likely to travel is sequentially stored in the point storage means.

  The positioning means selection unit selects a positioning result with higher reliability among the satellite navigation means and the autonomous navigation means as follows. First, in the section A1, the distance between the link L1 and the link L2 is, for example, within 10 m, and during this period, the links L1 and L2 exist within the range of the positioning error of the satellite navigation means, and the reliability of the positioning result by the satellite navigation means Since the nature is lower than the positioning result of the autonomous navigation means, the positioning result of the autonomous navigation means is selected.

  In the section A2, the distance between the link L1 and the link L2 is 10 m or more. During this period, only one link L1 or L2 exists within the range of the satellite navigation means positioning error. Therefore, the reliability of the positioning result of the satellite navigation means Therefore, the positioning result of the satellite navigation means is selected. In general, a process of monitoring the variation of the positioning position with respect to the link matched by the positioning result of the satellite navigation means and tracking the link on which the navigation terminal device is traveling is performed. During this period, such a process is performed. You may use together.

  In section A3, link L1 and link L2 are three-dimensionally crossed, so the distance between both links L1 and L2 is within 10 m again. In this section A3, the positioning result by the autonomous navigation means is selected as in section A1. When entering the section A3, the point on the link L1 according to the travel distance of the navigation terminal device from the node N1 is the position Pa, and the point on the link L2 is the position Pb.

  At this time, if the traveling direction (azimuth) of the navigation terminal device is acquired from the autonomous navigation means, the navigation terminal device travels on the link L2 and curves to the right and passes above (or below) the link L1, It changes to the direction of arrow D in the figure. Since the link corresponding to this azimuth (or the closest direction) is the link L2, the matching processing means selects the link L2 as a link for matching the positioning information at the positioning point P4. As a result, the positioning point P4 is correctly matched with the estimated position Pa on the link L2.

  If such a matching process is performed, even if it is a network data configuration in which a plurality of links having the same coordinates exist as in the present invention, the accurate traveling direction ( (Azimuth) is obtained, so that more accurate matching can be performed.

  Moreover, since the point information corresponding to the travel distance on each link is accumulated in the point storage means for a plurality of links with which the navigation terminal device may travel, it is possible to return to the correct position even if the matching is wrong. Return is possible. That is, even if the current position is selected and matching processing is performed, the position on the link is updated and maintained from the travel distance information for the other candidate links. If it is determined that the position on the other link is correct while repeating the positioning, it is changed to that candidate.

  The time until this correction or travel distance (travel distance) can be performed during a short time or distance in which the travel direction of the navigation terminal device is determined, so matching matching to the correct link can be performed before making a reroute processing request, Cases where unnecessary reroute processing is performed can also be reduced.

  Next, the configuration of the navigation system 10 using the matching network data according to the present invention will be described with reference to FIG. As shown in the block diagram of FIG. 7, the navigation system 10 includes an in-vehicle navigation terminal device 20 and a route search server 30 that are connected via a network 12.

  The route search server 30 searches the optimum route from the navigation terminal device 20 based on route search conditions such as a departure place and a destination, and distributes guide route data and map data. The navigation terminal device 20 is configured to superimpose the map data, the guidance route data, and the current position (vehicle position) of the navigation terminal device 20 on the display means so as to receive the route guidance to the destination. .

  The route search server 30 includes a control unit 311, a communication unit 312, a distribution data editing unit 313, a route search unit 314, a database that stores road network data 315 for route search, a database that stores map data 316, and the present invention. A database storing such matching network data 317 is provided. In the case where the navigation system 10 has a navigation function for pedestrians, a database (not shown) that stores pedestrian network data for searching for roads dedicated to walking and traffic network data for route search using transportation facilities. Prepared). The road network data 315 is configured as described with reference to FIG. 11, and the matching network data 317 is configured as described with reference to FIGS.

  Although not shown, the control unit 311 is a microprocessor having a RAM, a ROM, and a processor, and controls the operation of each unit by a control program stored in the ROM. The communication unit 312 is an interface for communicating with the navigation terminal device 20 via the network 12. The distribution data editing means 313 is for editing the data of the optimum guidance route and map data obtained as a result of the route search into data for distribution to the navigation terminal device 20.

  The route search means 314 is a multimodal route search engine, and refers to the road network data 315 based on the search conditions (departure location or current location, destination, travel means, departure time, etc.) transmitted from the navigation terminal device 20. Then, an optimum route (a route that minimizes the distance and required time) from the starting point or the present location to the destination is searched. The searched guide route is edited by the distribution data editing means 313 and distributed to the navigation terminal device 20. In the case where the route search means 314 has a route search function using both automobile and walking, and walking and transportation, the route search means 314 uses a multimodal route search engine. Such a route search engine is disclosed in, for example, Japanese Patent Laid-Open No. 2000-258184. As a route search method, a known method called Dijkstra method is applied.

  In addition, the route search server 30 delivers necessary map data to the navigation terminal device 20. The map data 316 includes a unit map divided into a predetermined size according to latitude and longitude, and normally nine maps on the top, bottom, left and right are distributed to the navigation terminal device 20 around the current position of the navigation terminal device 20. Is done. When the navigation terminal device 20 moves and the map data is insufficient, the navigation terminal device 20 requests the route search server 30 to distribute the insufficient unit map, and receives the desired unit map distribution.

  When the navigation terminal device 20 receives distribution of map data, guidance route data, and matching network data from the route search server 30, the navigation terminal device 20 displays the map, the guidance route, and the current position of the vehicle, and the user displays the route to the destination. You can receive guidance.

  As shown in FIG. 7, the navigation terminal device 20 includes a control unit 211, a satellite navigation unit 212, an autonomous navigation unit 213, a positioning unit selection unit 214, a matching processing unit 215, a distribution request editing unit 216, a communication unit 217, distribution data. The storage unit 218, the point storage unit 219, the display unit 220, and the operation / input unit 221 are provided.

  Although not shown, the control unit 211 includes a microprocessor (CPU) having a RAM and a ROM, and controls the operation of each unit by a control program stored in the ROM. The operation / input unit 221 is for operation / input including numeric keys, alphabet keys, other function keys, selection keys, scroll keys, and the like, and from a menu screen displayed on the display unit 220 as output unit. Various input operations are performed by selecting a desired menu or operating keys. Accordingly, the display unit 220 also functions as a part of the operation / input unit 221. The communication unit 217 is an interface for communicating with the route search server 30 via the network 12.

  The distribution request editing unit 216 uses the starting point and destination input using the operation / input unit 221 or the current position of the navigation terminal device 20 measured by the satellite navigation unit 212 or the autonomous navigation unit 213 as the starting point. The route search request using these pieces of information as route search conditions is edited. In the route search conditions, moving means (car, walk, transportation, etc.), departure time and arrival time, etc. can be set. Also, the distribution request editing means 216 edits a map data request for requesting the map data for the shortage when the map data being received from the route search server 30 is short with the movement of the navigation terminal device 20. And transmitted to the route search server 30.

  The distribution data storage unit 218 stores guide route data, map data, guidance, and the like, which are route search results distributed from the route search server 30, and these data are stored in the distribution data storage unit 218 as necessary. It is read out and displayed on the display means 220. In general, a guide map and a mark indicating the current position of the navigation terminal device 20 are superimposed on a map of a certain scale and a certain range including the current position of the navigation terminal device 20, and the current position mark is displayed on the display screen. Display to be at the center of. If voice guidance (for example, a voice message such as “This is a 300m intersection. Turn left”) is added to the guidance route data distributed from the route search server 30 via a speaker. Play and output voice messages to guide users.

  The satellite navigation means 212 is a first positioning means that includes a GPS receiver and receives GPS satellite signals and measures the current position of the navigation terminal device 20. The autonomous navigation means 213 includes an acceleration sensor, a steering angle sensor, a gyroscope, a vehicle speed sensor, and the like, and is a second positioning means that measures the current position of the navigation terminal device 20. As described above, in general, positioning by satellite navigation using GPS can measure the absolute position of the vehicle, so positioning by satellite navigation means 212 in places where the sky is open and GPS satellite signals are well received. The result is used with priority.

  Naturally, the result of positioning by the autonomous navigation means 213 is used in places where GPS satellite signals cannot be received, such as in tunnels. In addition, since a positioning error of about 10 m is included in the positioning result by GPS, the positioning result by the autonomous navigation means 213 is better than the positioning result by the satellite navigation means 212 in a place where a link other than the guide route exists within the range of 10 m. Since the reliability increases, the positioning result by the autonomous navigation means 213 is used with priority. The same applies to a place where the error of the positioning result by the satellite navigation means 212 becomes large due to the influence of the multipath. The positioning means selection unit 214 determines the above conditions and selects a positioning result of either the satellite navigation means 212 or the autonomous navigation means 213. Note that the positioning result by the autonomous navigation means 213 is held regardless of the selection by the positioning means selection unit 214, and the calculation results such as the moving distance and direction of the own vehicle are also held.

  The matching processing unit 215 performs processing for correcting the current position measured by the satellite navigation unit 212, the autonomous navigation unit 213, and the like on the road using the network data for matching distributed from the route search server 30. The matching network data distributed from the route search server 30 may be data in a necessary range along the guide route.

  The matching processing means 215 may have reached the navigation terminal device 20 based on the travel distance (travel distance) of the navigation terminal device 20 after passing through a node set in the middle of the road connected to the branch point. Each location information on each link is stored in the location storage means 219, and the positioning means selection unit 214 selects a highly reliable positioning means from the positioning outputs by the satellite navigation positioning means 212 and the autonomous navigation positioning means 213. .

  Then, the matching processing unit 215 refers to the point information stored in the point storage unit 219, selects the point closest to the current position measured by the positioning unit selected by the positioning unit selection unit, and matches this point. Processing to select as a position is performed.

  When the autonomous navigation means 213 is selected by the positioning means selection unit 214, the traveling direction of the navigation terminal device 20 is obtained. Therefore, the point on the link that is the closest to the traveling direction is selected and matched. Position. When the satellite navigation means 212 is selected, the estimated position closest to the positioning position (current position) measured by the satellite navigation means 212 may be selected as the matching position.

  The procedure of the matching process in the navigation system 10 will be described in detail with reference to the flowchart of FIG. In the navigation terminal device 20, the satellite navigation means 212 and the autonomous navigation means 213 each determine the current position in the process of step S11.

  In the processing of step S12, the matching processing means 215 determines whether or not the navigation terminal device 20 has passed the node set before the branch point. If it has not passed through this node, in the process of step S13, a matching process by a normal (similar to conventional) projection method is performed and the process returns.

  If it is determined in step S12 that the node has passed through the node, the process proceeds to step S14, where the matching processing unit 215 receives data on the travel distance after passing the node from the autonomous navigation unit 213. Then, in the processing of step S15, the point storage means 219 stores the point information of the estimated position corresponding to the travel distance for each link after passing through the node.

  In the process of step S16, the positioning means selection unit 214 selects one of the satellite navigation means 212 and the autonomous navigation means 213, which has the higher reliability of the positioning result, according to the selection conditions described in FIG. When the satellite navigation means 212 is selected, the process proceeds to step S20, and when the autonomous navigation means 213 is selected, the process proceeds to step S17.

  When the satellite navigation means 212 is selected, the matching processing means 215 selects the position information (positioning data) measured by the satellite navigation means 212 in the process of step S20, and in the process of step S21, the estimated position on each link is selected. Of the points, the point closest to the current position is selected as the matching position. Then, the process proceeds to step S22.

  On the other hand, when the autonomous navigation means 213 is selected, the matching processing means 215 selects position information (positioning data) measured by the autonomous navigation means 213 in the process of step S17, and in the process of step S18, the autonomous navigation means 213 Traveling direction information obtained by a rudder angle sensor, a gyro, or the like is acquired. Then, in the process of step S19, the link that matches the traveling direction (or the link in the closest direction) is selected, and the point of the estimated position on the link is selected as the matching position as described in FIG.

  The matching processing means 215 determines whether or not the navigation terminal device 20 has reached the node before the next branch point in the process of step S22, and returns if it has not reached the node before the next branch point. When the node before the next branch point is reached, the link stored in the point storage means 219 and the point information on each link in the process of step S23 are cleared (reset), and the process returns.

  In the above-described embodiment, the example in which the traveling direction of the navigation terminal device 20 is detected by the autonomous navigation means 213 has been described. However, the satellite navigation means 212 may calculate based on the positioning history although the accuracy is slightly inferior. Is possible. In that case, it is also possible to make the processing in step S21 the same as the processing in steps S18 and S19 when the autonomous navigation means 213 is selected.

  Next, a procedure in which the navigation terminal device 20 makes a reroute request will be described with reference to the flowchart of FIG. When the matching processing means 215 performs the matching processing in the processing procedure of the flowchart of FIG. 8 in the processing of step S31, it is determined whether or not the link matched in the processing of step S32 is a link of the guide route. If the matched link is a guide route link, the process returns to step S31.

  If the matched link is not a guide route link, the navigation terminal device 20 monitors the time or the travel distance in the process of step S33. Then, in the process of step S34, it is determined whether or not the time or travel distance exceeds a certain range. If the predetermined range is not exceeded, the process returns to step S31, and the measurement of time or travel distance is continued.

  In the determination process of step S34, if the time or the travel distance exceeds a certain range, a reroute processing request is generated in the process of step S35, and the reroute request information for the route search server 30 is edited by the distribution request editing means 216. The The edited reroute processing request is transmitted from the navigation terminal device 20 to the route search server 30, and the route search server 30 re-searches the route to the destination using the matched current position as the departure point.

  If such a matching process is performed, an accurate traveling direction (orientation) of the host vehicle can be obtained while the navigation terminal device 20 continues to travel, so that more accurate matching can be performed. For example, the link L4 in FIG. 10 is a route history of a vehicle traveling on the route R3 (see FIG. 12) on the matching network data in FIG. In this area, the positioning position of the autonomous navigation unit 213 is highly reliable, and the autonomous navigation unit 213 is selected as the positioning unit. Since the traveling direction obtained from the gyro output of the autonomous navigation means 213 is determined when the vehicle leaves the roundabout of the bus terminal, the link L4 in the direction matching this, that is, the link L4 toward the node N4 is selected as the matching link. A point on the link L4 is selected as a matching position.

Even if a matching error occurs in a link that is not correct, if it is determined that the position on another link is correct, the link is changed to that candidate. The time until the correction or the travel distance (travel distance) can be performed during a short time or distance in which the travel direction of the navigation terminal device 20 is determined. Therefore, matching to the correct link can be corrected before the reroute processing request is made. In addition, it is possible to reduce cases where unnecessary reroute processing is performed.
In addition, when a node is not placed at an intersection or branch as in the present invention, it is less likely that point information on past candidate links will be erased when passing through the node. Therefore, the current location is selected from candidates with high reliability. I can do it.

  The present invention can be applied to general car navigation systems as well as bus operation monitoring for which a route is determined. In complex intersections where detection of the current position is likely to be wrong, no nodes are placed in the intersection, and all possible routes are represented by links before the intersection, so that the current position with the highest reliability can be selected. Good. Even if the matching link is incorrect, the section with the same coordinates as the correct link can output the correct position as a result.

  Further, the vehicle is equipped with only GPS satellite navigation means and autonomous navigation means based on the travel distance of the vehicle, and the route search server connected with the communication network has the estimated position calculation and the means for storing the location and the road network data. It may be a stand-alone navigation system.

FIG. 1 is a schematic diagram for explaining a node configuration of network data for matching according to the present invention on a road in front of a station bus terminal. FIG. 2 is a schematic diagram for explaining a link configuration of network data for matching according to the present invention on a road in front of a station bus terminal. FIG. 3 is a schematic diagram for explaining a link configuration of network data for matching according to the present invention on a road in front of a station bus terminal. FIG. 4 is a schematic diagram showing a configuration of network data for matching according to the present invention on a general road. FIG. 5 is a diagram showing the concept of matching processing using network data for matching according to the present invention. FIG. 6 is a schematic diagram for explaining the selection processing of each positioning output by the satellite navigation means and the autonomous navigation means. FIG. 7 is a block diagram showing a configuration of a navigation system using network data for matching according to the present invention. FIG. 8 is a flowchart showing the procedure of matching processing in the navigation system of FIG. FIG. 9 is a flowchart showing a reroute processing request procedure in the navigation system of FIG. FIG. 10 is an explanatory diagram for explaining a matching result on the network data for matching in FIG. FIG. 11 is a schematic diagram for explaining road network data for route search. FIG. 12 is a schematic diagram showing road network data for route search at the bus terminal in front of the station. FIG. 13 is a schematic diagram for explaining a matching process in a branch path. FIG. 14 is a schematic diagram for explaining processing when a matching error occurs in FIG.

Explanation of symbols

N, N1 to N8 .. Node L, L0 to L8... Links C1 to C8... Branch, intersection, junction T1 to T3. Network 20 ... Navigation terminal device 211 ... Control means 212 ... Satellite navigation means 213 ... Autonomous navigation means 214 ... Positioning means selection unit 215 ... Matching processing means 216 ... Distribution request Editing means 217 ... Communication means 218 ... Distribution data storage means 219 ... Point storage means 220 ... Display means 221 ... Operation / input means 30 ... Route search server 311 ... Control Means 312 ... Communication means 313 ... Distribution data editing means 314 ... Route search means 315 ... Road network data 316 ... Map data 317 ... Ma Quenching for network data

Claims (15)

Network data for matching for matching the current position of a moving object on a link of network data represented by a link connecting the nodes,
The matching network data sets a node in the middle of each road connected to the intersection without setting a node at an intersection where roads intersect in the road network data, and passes the intersection via the intersection. Matching network data, characterized in that one link is set between each node.   In the network data for matching, one link is set between each node set on the path that can move along the traveling direction of the moving body from the node set before the intersection. The network data for matching according to claim 1, wherein the network data for matching is configured.   3. The network data for matching according to claim 1, wherein each link has the same coordinate data in the same road section. A method for creating network data for matching for matching a current position of a moving object on a link of network data represented by a link connecting nodes.
Setting a node in the middle of each road connected to the intersection without setting a node at the intersection where the roads intersect in the road network data;
A method of creating matching network data, comprising: setting one link each connecting the nodes via the intersection.   Including a step of setting one link each connecting between all nodes set in a path movable along the traveling direction of the mobile body from the node set before the intersection. The method for creating network data for matching according to claim 4.   6. The method for creating network data for matching according to claim 4, further comprising the step of assigning the same coordinate data to each link in the same road section. A navigation system comprising positioning means for positioning a current position, and having network data for matching for matching a current position of a moving object on a link of network data expressed by a link connecting nodes.
The matching network data sets a node in the middle of each road connected to the intersection without setting a node at an intersection where roads intersect in the road network data, and passes the intersection via the intersection. A navigation system having network data for matching, characterized in that it is configured by setting one link connecting each node.   It is characterized in that it is configured by setting one link connecting each node set in a path movable along the traveling direction of the moving body from the node set before the intersection. A navigation system having network data for matching according to claim 7.   The navigation system having network data for matching according to claim 7 or 8, wherein each link has the same coordinate data in the same road section. Route search that comprises a navigation system having network data for matching for positioning the current position of a moving body on a link of network data represented by a link connecting nodes between nodes, with positioning means for positioning the current position A server,
The route search server sets a node in the middle of each road connected to the intersection without setting a node at an intersection where roads intersect in the road network data, and passes the intersection A route search server comprising network data for matching configured by setting one link connecting nodes.   It is characterized in that it is configured by setting one link connecting each node set in a path movable along the traveling direction of the moving body from the node set before the intersection. The route search server according to claim 10.   The route search server according to claim 10 or 11, wherein each link has the same coordinate data in the same road section. A navigation terminal comprising positioning means for positioning the current position, and constituting a navigation system having network data for matching for matching the current position of the moving body on a link of network data expressed by a link connecting the nodes. A device,
The route search server sets a node in the middle of each road connected to the intersection without setting a node at an intersection where roads intersect in the road network data, and passes the intersection A navigation terminal device comprising network data for matching configured by setting one link connecting nodes.   It is characterized in that it is configured by setting one link connecting each node set in a path movable along the traveling direction of the moving body from the node set before the intersection. The navigation terminal device according to claim 13.   15. The navigation terminal device according to claim 13, wherein each link has the same coordinate data in the same road section.

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