JP2008076366A - Navigation apparatus, navigation method, and navigation program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation apparatus, a navigation method, and a navigation program which can acquire correct road regulations information on the basis of patterns on which a vehicle deviates from a guided route and correct errors in the road regulations information of map data through the acquired correct road regulations information. <P>SOLUTION: The navigation apparatus comprises a vehicle behavior fundamental pattern table for storing travel conditions, in which it is estimated that the vehicle has deviated from the guided route, in connection with the road regulations information, a deviation judgement section for judging whether or not the vehicle has deviated from the guided route, a vehicle information log storage section for storing the travel condition when the deviation judgement section has judged that the vehicle has deviated from the guided route, a vehicle behavior analysis section for identifying the road regulations information corresponding to the travel condition stored by the vehicle information log storage section by referring to the vehicle behavior fundamental pattern table, and a correction section for correcting errors in the road regulations section of the map data on the basis of the road regulations information identified by the vehicle behavior analysis section. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a navigation device, a navigation method, and a navigation program. More specifically, the present invention acquires correct road regulation information based on a pattern in which a vehicle leaves a guide route, and roads are obtained according to the acquired correct road regulation information. The present invention relates to a navigation device, a navigation method, and a navigation program that can correct an error in regulation information.

  In the map database of the car navigation system, road regulation information such as one-way street and right / left turn prohibition is not prepared especially on narrow streets, and correct road regulation information is not always recorded. For this reason, route guidance that violates the actual road regulations is performed.

Therefore, conventionally, a technique has been proposed in which correct road regulation information is obtained by recognizing a traffic sign installed on a road from an in-vehicle camera image mounted on a vehicle, and appropriate route guidance is performed ( For example, see Patent Document 1).
JP 2006-38558 A

  However, traffic signs are not always installed in places with good visibility, especially on narrow streets, where traffic signs may be installed in places that are often overlooked by the human eye. Also, depending on the direction of entering the intersection, there may be no traffic sign. Furthermore, it is difficult to recognize a traffic sign from the video of the in-vehicle camera at night or when the weather is bad.

  Therefore, the conventional technology cannot recognize the traffic sign from the video of the in-vehicle camera installed in the vehicle and cannot acquire the correct road regulation information. Route guidance cannot be performed.

  The present invention has been made in view of the above problems. That is, a navigation device, a navigation method, which can acquire correct road regulation information based on a pattern in which the vehicle leaves the guide route, and can correct an error in the road regulation information of the map data by the obtained correct road regulation information. And a navigation program.

  A first aspect of the present invention is directed to a navigation device that performs navigation according to a guide route to a destination set in map data. The present invention relates to a vehicle behavior basic pattern table that stores a travel situation in which a vehicle is predicted to have departed from a guide route in association with road regulation information, a positioning unit that measures the vehicle position, and a route search that searches for a guide route. , A departure determination unit that determines whether or not the vehicle has left the guide route, a vehicle information log recording unit that records a driving situation when it is determined that the departure determination unit has left, and a vehicle behavior basic pattern table The vehicle behavior analysis unit for identifying the road regulation information corresponding to the driving situation recorded by the vehicle information log recording unit, and the road regulation information of the map data based on the road regulation information identified by the vehicle behavior analysis unit And a correction unit for correcting the error.

  Further, in the vehicle information log storage unit and the vehicle behavior basic pattern table, the driving situation may be recorded in the same format format of dots and / or vector data, and may be compared with each other.

  The vehicle behavior basic pattern table may record a pattern that leaves at a branch point.

  Further, the vehicle behavior basic pattern table may record a pattern caused by the inability to enter the road as a pattern leaving at the branch point.

  Further, the vehicle behavior basic pattern table may record a pattern caused by an unnecessary stop as a pattern to leave.

  The vehicle behavior analysis unit further includes a photographing unit, and road restriction information corresponding to the traveling state of the own vehicle recorded by the vehicle information log recording unit using a result of image recognition of the video photographed by the photographing unit. May be specified.

  The vehicle behavior analysis unit further includes an input unit that receives input from the user, and when the vehicle behavior analysis unit specifies a plurality of road regulation information corresponding to the traveling state of the vehicle recorded by the vehicle information log recording unit, the plurality of specified roads The restriction information may be presented to the user, and one road restriction information corresponding to the selection instruction input from the input unit by the user in response to the presentation may be specified.

  The second aspect of the present invention is directed to a navigation method for performing navigation according to a guide route to a destination set in map data. The present invention relates to a vehicle behavior basic pattern storage step for storing a driving situation in which a vehicle is predicted to have departed from a guidance route in association with road regulation information, a positioning step for measuring the vehicle position, and a route for searching for a guidance route. A search step, a departure determination step for determining whether or not the vehicle has left the guide route, a vehicle information log recording step for recording a driving situation when it is determined that the vehicle has left in the departure determination step, and a vehicle behavior basic pattern By referring to the road regulation information stored in the storage step, the vehicle behavior analysis step for identifying the road regulation information corresponding to the traveling situation recorded by the vehicle information log recording unit, and the road regulation information identified in the vehicle behavior analysis step And a correction step of correcting an error in the road regulation information of the map data.

  The third aspect of the present invention is directed to a navigation program that is executed by a computer of a navigation device that performs navigation according to a guide route to a destination set in map data. The present invention provides a computer with a vehicle action basic pattern storage step for storing a travel situation in which a vehicle is predicted to have departed from a guide route in association with road regulation information, a positioning step for measuring the vehicle position, and a guide route. A route search step to be searched, a departure determination step for determining whether or not the vehicle has left the guide route, a vehicle information log recording step for recording a traveling situation when it is determined that the vehicle has left in the departure determination step, and a vehicle A vehicle behavior analysis step for identifying road regulation information corresponding to the driving situation recorded by the vehicle information log recording unit with reference to the road regulation information stored in the behavior basic pattern storage step, and a road identified in the vehicle behavior analysis step Based on the restriction information, a correction step for correcting an error in the road restriction information of the map data is executed.

  Navigation device, navigation method, and navigation capable of acquiring correct road regulation information based on a pattern in which the vehicle leaves the guide route, and correcting an error in the road regulation information of the map data based on the obtained correct road regulation information A program can be provided.

(Embodiment)
Hereinafter, a navigation device 10 according to an embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing an overall configuration of a navigation device 10 according to an embodiment. The navigation device 10 provides the user with guidance information at points to be guided (hereinafter referred to as guidance target points) such as intersections existing on the route, and guides the route from the departure point to the destination. In FIG. 1, the navigation device 10 includes an input unit 1, a positioning unit 2, a data storage unit 3, an arithmetic processing unit 4, an output unit 5, and a photographing unit 6.

  The input unit 1 is, for example, a remote controller, a microphone that collects voice, a mobile phone equipped with an IrDA (infrared communication) function, or a personal digital assistant (PDA) that receives an instruction input from a driver. The user gives various input instructions such as setting a destination via the input unit 1. Information and operation requests input to the input unit 1 are input to the arithmetic processing unit 4.

  The positioning unit 2 is attached to a vehicle on which the navigation device is installed, and measures the vehicle position, speed, direction, and current time. The positioning unit 2 receives, for example, a speed sensor that detects the moving speed of the vehicle, a gyro sensor that detects the traveling direction of the vehicle, and radio waves from a plurality of satellites, and measures the absolute position by demodulating the received radio waves. It consists of a GPS receiver. The positioning unit 2 may have a configuration in which two or more of these sensors and receivers are combined. Information detected by the speed sensor, the gyro sensor, and the GPS receiver is input to the arithmetic processing unit 4 and is used by the arithmetic processing unit 4 for a map matching process to be described later.

  The data storage unit 3 is, for example, a CD-ROM, a DVD-ROM, an HDD (hard disk drive), or a memory that stores various data used for route search such as map data.

  In addition, the data storage unit 3 includes a vehicle information log recording unit 31 used for recording a vehicle behavior trajectory as log information, a vehicle behavior basic pattern that records a behavior pattern of a vehicle predicted to have left the route. A table 32, a search algorithm list 33 in which search algorithms used for reroute are recorded, a search algorithm table 34 in which each region and at least one search algorithm are stored in association with each other, and a reroute information recording unit 35 in which reroute history information is recorded including.

  The map data includes road network data used for various processes such as route search, guidance, and map matching in the arithmetic processing unit 4 and background data used for map display. The road network data is mainly composed of node data indicating intersections and link data indicating roads connecting the nodes. Note that the map data and various data may be downloaded as appropriate from the center facility via the communication unit (not shown) of the mobile phone and stored in the data storage unit 3.

  The arithmetic processing unit 4 includes a vehicle behavior analysis unit 41 and a road regulation information correction unit 42, and performs various processes such as route search, guidance guidance, and map matching. Here, the route search process is a process of searching for a guide route from the vehicle position to the destination. The guidance guidance process is a process for performing guidance guidance at an intersection or the like for a vehicle traveling along the guidance route calculated by the previous route search. Further, the map matching process is a process of correcting the vehicle position when the vehicle is off the route based on information on the vehicle position detected by the positioning unit 2.

  The output unit 5 is, for example, a display device and / or a speaker that outputs information on a map, a vehicle position, and / or guidance information. For example, the display device visually provides guidance guidance information, and the speaker provides guidance guidance information by voice, for example. The output unit 5 outputs “Please drive according to actual road regulations” before traveling.

  The photographing unit 6 is, for example, a camera attached to photograph the periphery of the vehicle. Depending on the attachment position, the photographing unit 6 photographs the front, both sides, the rear, and the like of the vehicle. Is input.

  FIG. 2 is a flowchart showing the operation of the navigation device 10 according to the embodiment of the present invention. First, the user sets a destination (step S101). Specifically, the driver inputs information necessary for specifying the destination by operating the input unit 1 (for example, the zip code, address and / or telephone number of the destination) or displays it on the display device. Specify the destination by touching the map image. The arithmetic processing unit 4 sets a destination required for the route search based on the operation information input by the input unit 1.

  Next, the arithmetic processing unit 4 performs route search processing for searching for a guide route to the destination based on the search algorithm stored in the data storage unit 3 (step S102). That is, the arithmetic processing unit 4 searches for a route to the destination set in step S101 using the own vehicle position measured by the positioning unit 2 as a starting point. As a route search processing algorithm, for example, a well-known Dijkstra method is used. Here, the searched guide route is composed of data on nodes and links.

  In step S102, the starting point (departure point) of the route is not limited to the vehicle position, and may be a point input by the driver from the input unit 1. Further, in the route search process, the driver may be able to set conditions in advance.

  For example, prior to the execution of the route search process, the driver may be able to designate a priority road type from the input unit 1, such as whether to give priority to general roads or to expressways (or toll roads). In this case, the arithmetic processing unit 4 searches for a route that satisfies the conditions of the road type specified by the driver. In addition, the arithmetic processing unit 4 may search for a plurality of routes from the vehicle position to the destination, or may be configured such that the driver can select one route from the plurality of searched guide routes.

  When the guidance route is searched in step S102, the arithmetic processing unit 4 uses the own vehicle position, the moving speed, and the traveling direction measured by the positioning unit 2 and the map data stored in the data storage unit 3, Map matching processing is performed to calculate the vehicle position, moving speed, and traveling direction (step S103).

  Next, the own vehicle position, the moving speed, and the traveling direction calculated by the positioning unit 2 in step S103 are recorded in the vehicle information log recording unit 31 as a vehicle behavior trajectory (step S104). These pieces of information are used later to analyze the behavior of the vehicle.

  Next, the arithmetic processing unit 4 performs an in-vehicle camera process for recognizing the direction of the other vehicle and the road regulation information drawn on the road from the image photographed by the photographing unit 6 (step S105). Hereinafter, the in-vehicle camera process will be described with reference to the flowchart of FIG. 3 (steps S201 to S213).

(In-vehicle camera processing)
First, the arithmetic processing unit 4 acquires an image in front of the host vehicle photographed by the photographing unit 6 (step S201), recognizes the acquired image, and obtains road regulation information drawn on the direction of other vehicles and roads. Recognize (step S202). Note that image recognition may recognize a still image or a moving image.

  In step S <b> 202, the arithmetic processing unit 4 refers to a vehicle pattern table (not shown) stored in the data storage unit 3 and recognizes the direction of another vehicle existing in the image captured by the imaging unit 6 by image recognition. This vehicle pattern table stores information on the shape of the vehicle, the movement of the vehicle, and the color of the headlights and brake lamps of the vehicle as information for identifying the direction of the vehicle. For example, assuming that an image ahead of the vehicle as shown in FIG. 4A is acquired by the front camera, if the color of the brake lamp can be recognized with reference to the vehicle pattern table, the other vehicle faces forward. It is recognized that If it is assumed that a moving image in front of the vehicle as shown in FIG. 4B is acquired by the front camera, if it can be recognized that the other vehicle is moving from the right side to the left side with reference to the vehicle pattern table, the other vehicle is on the left side. It is recognized that it is facing. A plurality of other vehicles are preferably recognized. In this case, the reliability of recognition of the movement of the other vehicle is improved.

  In step S202, the arithmetic processing unit 4 refers to the road regulation information pattern table 51 shown in FIG. 5 stored in the data storage unit 3, and is drawn on the road existing in the image photographed by the photographing unit 6. Recognize road regulation information by image recognition. In this road regulation information pattern table, a road regulation information mark drawn on the road and its regulation contents are stored in association with each other. For example, assuming that an image 52 ahead of the vehicle as shown in FIG. 5B is acquired by the front camera, referring to the road regulation information pattern table, the rightmost lane is prohibited to turn right, and the left lane is U-turn. Recognized as prohibited.

  Next, the arithmetic processing unit 4 refers to the map data stored in the data storage unit 3 based on the own vehicle position measured by the positioning unit 2 and determines whether the own vehicle is passing the intersection. (Step S203). Here, being passing the intersection means that the vehicle is at the position 601 in FIG. That is, when the vehicle is in a position in the section from entering the intersection to exiting the intersection, the position where the road (c) and the road (d) can be seen from the side camera attached to the own vehicle Is when there is a car.

  When it is determined in step S203 that the vehicle is passing the intersection, the arithmetic processing unit 4 acquires a lateral image of the host vehicle captured by the imaging unit 6 (step S204), and the acquired lateral image. Perform image recognition. In the image recognition in step S204, an image obtained by photographing a road that intersects a traveling road that is passing through an intersection is recognized by the side camera (step S205). For example, if there is a vehicle at a position 601 in FIG. 6, image recognition of the road (b) and the road (d) is performed. The image recognition of the road (b) and the road (d) is processed in the same manner as the process performed in step S202.

  Next, the arithmetic processing unit 4 determines whether there is road regulation information (step S206). The road regulation information here is not prohibition information such as entry prohibition or travel prohibition, but information that is possible to enter or travel. The fact that the arithmetic processing unit 4 recognizes the image from the image captured by the imaging unit 6 is the direction of the other vehicle that is proceeding according to the correct road regulation information.

  For example, it is assumed that another vehicle facing in the direction (i) can be recognized on the road (b) in FIG. In that case, it is not possible to determine whether or not it is possible to proceed in the direction (ii), but it can be determined that it is possible to proceed in at least the direction (i). If the road regulation information of the road (b) is recorded in the data storage unit 3 as being one-way in the direction (ii), it can be determined that at least the road regulation information is incorrect. However, it cannot be determined whether (i) one-way direction or (i) and (ii) two-way direction, but at least the previously recorded one-way road regulation (ii) Information can be denied. In this way, in step S206, it is determined in which direction the vehicle can travel in the lateral direction (road (b) and road (d) in the example of FIG. 6) while passing the intersection.

  When such a determination is made and the road regulation information needs to be corrected, the road regulation information correction unit 42 of the arithmetic processing unit 4 in this example is at least one of the previously recorded (i) directions. The road regulation information for traffic is deleted, and an error in the road regulation information in the data storage unit 3 is corrected (steps S206 → S212 → S213). If it is not necessary to correct the road regulation information, the arithmetic processing unit 4 ends the process.

  On the other hand, when it is determined in step S203 that the vehicle is not passing the intersection, the arithmetic processing unit 4 determines whether or not the vehicle is immediately before the intersection (step S207). Here, being immediately before the intersection means that the vehicle is at position 602 in FIG. For example, the case where the vehicle position does not change for a predetermined time, that is, the case where the vehicle stops immediately before the intersection because of a red light is included.

  If it is determined in step S207 that the vehicle is immediately before the intersection, the road regulation information of the traveling road that has crossed the intersection and the road regulation information of the passing intersection are determined (step S207 → S208). In the example of FIG. 6, the determination is made based on the direction of the other vehicle traveling on the road (c), the road (b), and / or the road (d). It is possible to determine whether or not it is possible to proceed from the road (b) to the road (d) and / or from the road (d) to the road (b) from the result of the image processing similar to the processing performed in step S202. is there. Further, the travelable direction of the road (c) is determined. Further, it is also determined whether or not it is possible to proceed from the road (b) to the road (c) and / or from the road (d) to the road (c). When such a determination is made and the road regulation information needs to be corrected, the road regulation information correction unit 42 of the arithmetic processing unit 4 corrects the error of the road regulation information in the data storage unit 3 with the correct road regulation information ( Steps S208 → S212 → S213). If it is not necessary to correct the road regulation information, the arithmetic processing unit 4 ends the process.

  On the other hand, when it is determined in step S207 that it is not immediately before the intersection, the arithmetic processing unit 4 determines whether or not there is an intersection in the field of view of the photographing unit 6 (step S207 → S209). Here, as shown in FIG. 7, whether the intersection is within the field of view of the photographing unit 6 is within the range where the photographing unit 6 can photograph from the own vehicle position measured by the positioning unit 2, and the data storage unit 3. It is determined by whether or not there is an intersection node stored in. The range within which the photographing unit 6 can shoot is a triangular area with shading, and it is determined whether or not there is an intersection node in the area.

  If it is determined in step S209 that the intersection is within the field of view of the photographing unit 6, road regulation information of a road that intersects the traveling direction of the intersection is determined (step S210). Here, the roads that intersect the traveling direction of the intersection are the road (b) and the road (d) in the example of FIG. 6 when the vehicle is traveling on the road (a) and the own vehicle is at the position 603. If the line of sight is good even at the position 603 in FIG. 6, other vehicles traveling on the road (b) and the road (d) can be recognized by image recognition. This process is performed in the same manner as part of the process performed in step S208, but road regulation information can be acquired earlier when the vehicle is at position 603 without reaching position 602 in FIG. There is an advantage.

  Thus, even if it does not reach the intersection, if it is necessary to correct the road regulation information by recognizing the situation of the front intersection at an earlier time, the road regulation information correction unit 42 of the arithmetic processing unit 4 Based on the direction of the other vehicle traveling at the intersection, the error in the road regulation information in the data storage unit 3 is corrected with the correct road regulation information (steps S210 → S212 → S213). If it is not necessary to correct the road regulation information, the arithmetic processing unit 4 ends the process.

  Whether it is possible to turn right or left or go straight by recognizing not only the direction of other vehicles traveling on the road intersecting the direction of travel but also the road regulation information drawn in the lane immediately before the intersection by image recognition Can be judged. For example, from road (a) to road (b), even if road restriction information prohibiting right turns is recorded in the data storage unit 3, if a right turn possible mark is recognized on the road (a), a calculation process is performed. The road regulation information correction unit 42 of the unit 4 can correct the road regulation information prohibiting a right turn that is an error in the road regulation information of the data storage unit 3.

  On the other hand, when it is determined in step S209 that the intersection is not within the field of view of the photographing unit 6, the arithmetic processing unit 4 determines road regulation information of the currently traveling road (step S211). Here, in the example of FIG. 6, determination of the road regulation information of the road that is currently progressing is performed at a position where the vehicle is at a position 604 that is a predetermined distance away from the intersection and the intersection is not seen in front. The image recognition of the road that is currently progressing is performed in the same manner as the processing performed in step S202. That is, when the own vehicle is at the position 604, the road regulation information of the road (a) is determined. For example, when road regulation information that is one-way in the traveling direction of the road (a) is recorded in the data storage unit 3, if another vehicle traveling in the oncoming lane is recognized in step S211, The one-way road regulation information is determined to be incorrect.

  If the situation of the road that is currently progressing is recognized in this way, if it is necessary to correct the road regulation information, the road regulation information of the arithmetic processing unit 4 is based on the direction of other vehicles that are traveling on the road. The correction unit 42 corrects the error in the road regulation information in the data storage unit 3 with the correct road regulation information (steps S211 → S212 → S213). If it is not necessary to correct the road regulation information, the arithmetic processing unit 4 ends the process.

  Accordingly, it is possible to provide a navigation device capable of acquiring correct road regulation information based on the surrounding information of the own vehicle and correcting an error in the road regulation information of the map data with the acquired correct road regulation information. .

  Next, for example, when the road regulation information recorded in the data storage unit 3 is incorrect, the navigation apparatus 10 incorrectly guides the road even if the road cannot actually travel in one way. In that case, the user confirms the actual road regulation at the own vehicle position measured by the positioning unit 2 and reflects the confirmed content in the data storage unit 3 of the navigation device 10.

  That is, when the in-vehicle camera process in step S105 ends, the arithmetic processing unit 4 performs user input processing for correcting the road regulation information recorded in the data storage unit 3 with more correct road regulation information input from the user ( Step S106). Hereinafter, user input processing will be described with reference to the flowchart of FIG. 8 (steps S301 to S305).

(User input processing)
First, the arithmetic processing unit 4 determines whether or not there is a user input from the input unit 1 (step S301).

  When it is determined in step S301 that there is a user input, the road regulation information correction unit 42 of the arithmetic processing unit 4 corrects the error of the road regulation information in the data storage unit 3 with the correct road regulation information input from the user. (Step S301 → S302). The outline of the correction at this time will be described with reference to FIG. In FIG. 9, the route from the position of the vehicle to the destination is calculated, but road regulation information is recorded in the data storage unit 3 even though the road (e) is actually restricted to one-way. Therefore, the route is calculated ignoring actual road regulation information. In such a case, the user visually recognizes the actual road regulation information just before the intersection entering the road (e), and knows that the user cannot enter the road (e).

  As an example of the user input in that case, an error in the road regulation information on the road (e) may be corrected by touching the road (e) on the map displayed on the display. In this case, when the road (e) is touched, the arithmetic processing unit 4 may display a submenu on the display so that the user inputs what the actual road regulation information is.

  Another example of user input is realized by voice input using voice recognition technology. For example, when it is determined that the road (e) cannot be entered in the example of FIG. 9, the user inputs a voice saying “Cannot turn right” or “The road regulation on the route is incorrect” Input voice. By recognizing the user's utterance, the road regulation information correcting unit 42 of the arithmetic processing unit 4 recognizes the corresponding road and corrects the error of the road regulation information in the data storage unit 3 with more correct road regulation information.

  Further, as another example of user input, it is assumed that a dedicated switch for correcting road regulation information is provided. In the example of FIG. 9, when the dedicated switch is pressed when it is determined that the user cannot enter the road (e), the road regulation information correction unit 42 of the arithmetic processing unit 4 recognizes the road and stores the data. The error in the road regulation information of part 3 is corrected to more correct road regulation information. Also, when voice guidance is being implemented, in the example of FIG. 9, the voice guidance is output as “This is right ahead”, and when it is determined that the road corresponding to the voice guidance cannot be entered, the dedicated switch is pressed. Then, the road regulation information correction unit 42 of the arithmetic processing unit 4 determines not to proceed to the road corresponding to the voice guidance, and corrects the error of the road regulation information in the data storage unit 3 with more correct road regulation information.

  On the other hand, when it is determined in step 301 that there is no user input, the arithmetic processing unit 4 determines road regulation information of the road that is currently traveling (steps S301 → S303). Recognizing the situation of the road that is currently in progress, if it is necessary to correct the road regulation information, the road regulation information correction unit 42 of the arithmetic processing unit 4 is based on the direction of other vehicles traveling on the road. Corrects the error in the road regulation information in the data storage unit 3 with the more correct road regulation information (steps S303 → S304 → S305). If it is not necessary to correct the road regulation information, the arithmetic processing unit 4 ends the process and proceeds to the process of step S107 described later.

  For example, assuming that a road that is currently traveling is traveling according to actual road regulation information, the road regulation information of the currently ongoing road recorded in the data storage unit 3 is referred to and compared with the current traveling situation. By doing so, it is possible to determine whether or not the road regulation information is incorrect. In addition, according to the input accepted by the input unit 1 at a point where it cannot proceed according to the guidance, as an option indicating conditions for searching for another route, correction of road regulation information, change of destination, and change of search algorithm Any one of these may be presented. In this case, another route may be searched based on the selection of the user according to the presentation of the options.

  Accordingly, it is possible to provide a navigation device that can perform appropriate route guidance to a destination based on an input of a point that cannot be proceeded according to the guidance actually obtained by the user.

  When the user input process in step S106 ends, the arithmetic processing unit 4 performs a route departure determination process for determining whether or not the vehicle has left the guide route (step S107). When leaving, the reroute process is performed to recalculate the guide route. In addition, when it is determined that the arithmetic processing unit 4 has left, the arithmetic processing unit 4 also corrects the road regulation information by analyzing the behavior of the vehicle up to that time using the vehicle information log recording unit 31. Hereinafter, the route departure determination process will be described with reference to the flowchart of FIG. 10 (steps S401 to S407).

(Route departure judgment processing)
First, the arithmetic processing unit 4 determines whether or not the own vehicle is on the route by using the own vehicle position measured by the positioning unit 2 (step S401). Here, it is determined whether the vehicle is traveling on the route from the vehicle position, the traveling direction, and the moving speed.

  If it is determined in step S401 that the host vehicle is on the route, the arithmetic processing unit 4 ends the route departure determination process and proceeds to a process in step S108 described later. On the other hand, when it is determined in step S401 that the vehicle has left the route, the arithmetic processing unit 4 analyzes the vehicle behavior immediately before leaving the route, so that the cause of leaving the route is based on an error in the road regulation information. A vehicle behavior analysis process is performed to determine whether or not the vehicle is moving (step S402). Hereinafter, the vehicle behavior analysis process will be described with reference to the flowchart of FIG. 11 (steps S501 to S504).

  First, the vehicle behavior analysis unit 41 of the arithmetic processing unit 4 acquires vehicle log information until the route leaves from the vehicle information log recording unit 31 (step S501). Here, it is the behavior of the vehicle immediately before leaving the route, and a log of a predetermined time required for analysis, for example, a log for 30 seconds before leaving the route is acquired.

  Next, the arithmetic processing part 4 reads the information of the vehicle action basic pattern table 32 (step S502). Here, the vehicle behavior basic pattern table 32 will be described with reference to FIG. The vehicle behavior basic pattern table 32 stores in advance the vehicle behavior pattern predicted to have left the route due to an error in the road regulation information and the road regulation information that is the cause of the departure.

  For example, in the item No. 1 in FIG. 12, an action pattern of “I tried to enter from an intersection once but returned for some reason” is recorded. The behavior of the vehicle in the pattern item is expressed by dot data or vector data, and can be compared with the data recorded in the vehicle information log recording unit 31. In addition, when the data cannot be compared with the data described in the pattern item, it is assumed that the pattern corresponds to the pattern if the condition item is satisfied. In the example of No1, it turns into an action pattern of No1 when it turns the intersection to the place which is 10 m or more away from the driving | running route, and also returns 10 m or more.

  The behavior pattern of FIG. 12 is the example of FIG. 9 and records the behavior pattern when the vehicle cannot enter the road (e) and goes straight ahead and leaves the route. In No. 3 in FIG. 12, the condition is that the vehicle has stopped for 5 seconds or more immediately before the intersection. However, there is a possibility that the vehicle has stopped at a red signal, so an image from the in-vehicle camera is analyzed. Accordingly, for example, if the vehicle has stopped for 5 seconds or more even though there is no green light or a vehicle ahead, it is determined that the user is lost due to an error in the road regulation information.

  Next, the vehicle behavior analysis unit 41 of the arithmetic processing unit 4 determines whether or not the log acquired in step S501 corresponds to the behavior pattern of the vehicle behavior basic pattern table 32 (step S503). If it is determined in step S503 that this is the case, it is determined whether there is road regulation information to be corrected (step S504).

  When there are a plurality of road regulation information to be corrected based on the determination result in step S504, all the road regulation information may be corrected or may be corrected with priority. For example, in No. 1 in FIG. 12, the road regulation information to be corrected is right turn prohibition and entry prohibition, but both of these items may be corrected, or only those with higher priority are corrected with priorities. May be. For example, in the example of No. 1 in FIG. 12, when making a right turn from a road with a wide road to a road with a narrow road width, the priority order may be set so that the road regulation information is prohibited to turn right. Good. In the statistical data of road regulation information, for example, if the largest number of road regulation information is one-way and the next most road regulation information is prohibited to turn right, priority is given to the order of the largest number of road regulation information according to the statistical data. A ranking may be given.

  Next, when it is determined that the user has left the route, a dialogue process is performed to make the user decide the next action (step S403). In this interactive process, if it is determined that the user has left the route, the user is informed that the user has left the route before rerouting. Further, the user is inquired “Why did you miss the route?”. The user may have just missed the road to be branched, intentionally left the route, or left the route due to an error in the road regulation information. The user can input these reasons from the input unit 1.

  As a result of such interactive processing, if the road regulation information is caused by an error, the road regulation information correction unit 42 of the arithmetic processing unit 4 is necessary when the road regulation information needs to be corrected, as in the process performed in step S106. Corrects the error in the road regulation information in the data storage unit 3 with the correct road regulation information input by the user (steps S403 → S404 → S405). If it is not necessary to correct the road regulation information, the arithmetic processing unit 4 ends the process.

  Alternatively, as a result of such interactive processing, if the cause is an error in road regulation information, the processing result in step S402 may be used. In this case, the user is first notified that “the behavior when the route is off was analyzed”, and then the user is inquired using the cause obtained from the determination result in step S503, for example, “Is it due to entry prohibition?” . If the user answers “Yes” from the input unit 1 to the inquiry, the error in the road regulation information in the data storage unit 3 can be corrected to correct road regulation information based on the answer. When the answer is “No”, the user may be inquired about the next cause candidate. Further, when there are a plurality of cause candidates, an inquiry may be made such that "1. entry prohibited, 2. right turn prohibited, which is the cause?" Further, an inquiry “What is the cause?” May be made so that the information that matches the road regulation information input by the user is set as the correction target.

  This provides a navigation device that can acquire correct road regulation information based on a pattern in which the vehicle leaves the guide route, and can correct an error in the road regulation information in the map data by using the acquired correct road regulation information. be able to.

  Next, the arithmetic processing unit 4 performs a reroute process (step S406). Hereinafter, the reroute process will be described with reference to the flowchart of FIG. 13 (steps S601 to S605). In this reroute process, first, the arithmetic processing unit 4 extracts regional characteristics in the vicinity of the vehicle position measured by the positioning unit 2 (step S601). The regional characteristics represent the characteristics of the area, such as a new residential area, an industrial area, a downtown area, a commercial area, a tourist area, and an educational area. In order to acquire this regional characteristic, the facility and landmark information in the vicinity of the vehicle position are acquired from the map data recorded in the data storage unit 3, and the regional characteristic is determined from the type and number thereof. Or you may enable it to discriminate | determine the regional characteristic of the own vehicle position from the regional characteristic information previously recorded on the map data of the data storage part 3. FIG.

  Before proceeding to the next step S602, the search algorithm, the search algorithm list 33, and the search algorithm table 34 will be described.

  For example, when the Dijkstra method is used as the search algorithm, the search is expanded in order from the reference node to the peripheral nodes, and a route with the smallest cost is calculated. As shown in FIG. 16, when node A is a reference node, it expands to nodes B, C, D, and E.

  The search algorithm list 33 is a list that stores various search algorithms having different characteristics, and is recorded in the data storage unit 3. An example of the search algorithm list 33 will be described with reference to FIG.

  In the search algorithm storage location, the corresponding search algorithm itself may be described in the list, or if the search algorithm executable file is stored in another location, the top of the executable file A pointer pointing to may be described. Below, each search algorithm is demonstrated.

  First, No. 1 “Right / Left Turn Limitation” is an algorithm for searching for a route that makes the number of right or left turns at an intersection until reaching the destination within n times or n times. The value of n may be determined so as to increase the value of n as the distance increases, for example, according to the straight line distance from the vehicle position to the destination, or as the number of reroutes increases. The value may be changed so as to increase or decrease. By changing the value of n to limit the right or left turn, it is possible to calculate different routes even when rerouted at the same location, and different routes of approach to the destination are calculated.

  The “right turn tendency” of No. 2 focuses only on the right turn at the intersection, and calculates a route in which the right turn has a predetermined ratio or more in the route. The predetermined ratio value may be set in advance as a specific value such as 70%, for example, or may be changed according to the straight line distance to the destination or the number of reroutes as in the previous example. May be. The “left turn tendency” of No. 3 is an algorithm that focuses only on the left turn as in the “right turn tendency”.

  The “road regulation reliability” of No. 4 is an algorithm for calculating a route with P% confidence of road regulation information such as one-way traffic and right / left turn prohibition. Assuming that the road regulation information recorded in the data storage unit 3 is 100% unreliable, the road regulation information to be processed during the route search is assumed to be correct with a probability of P%, and is used as it is (100-P ) The road regulation information recorded in the data storage unit 3 is ignored on the assumption that it is not correct with a probability of%.

  For example, in the example of FIG. 16, if it is assumed that the road regulation information (a) is incorrect, it can be expanded from node A to node B. If it is assumed that the road regulation information (a) is correct, the node A cannot be expanded to the node B.

  Note that the road regulation information recorded in the data storage unit 3 may use 80 as the value of P when the statistics that 80% is correct are known in advance. Alternatively, as the number of reroutes increases, it may be determined that the destination cannot be reached because the road regulation information in the data storage unit 3 is not correct, and the value of P may be gradually decreased.

  “Distance priority” of No. 5 is a general search algorithm for obtaining a route with the shortest distance. The calculated route depends on the search start point that is the location of the vehicle. For example, in order to calculate a different route, the route distance to the destination is predetermined according to the number of reroutes up to that point. You may make it calculate so that it may become below distance.

  The “time priority” of No. 6 is a general search algorithm for calculating a route that takes the shortest travel time to the destination. As in the above case, the time is less than a predetermined time according to the number of reroutes. A simple route may be calculated.

  By dynamically changing the parameters of each search algorithm as described above according to the distance to the destination, the number of reroutes, and the like, the calculated routes differ. In this way, in particular, there is no possibility that the destination cannot be reached indefinitely only by recalculating the same route even if the route is rerouted due to an error in the road regulation information near the destination.

  The search algorithm table 34 is a table stored in association with the search algorithm for each region. Based on the reason that large vehicles cannot pass in emerging residential areas, there are many intersections with restrictions such as turning left and right in tourist areas, and there are many travel time restrictions in educational areas, etc., from the search algorithm list to each area The most appropriate search algorithm is selected. The search algorithm is not limited to one in each region, and a plurality of search algorithms may be selected. In that case, a priority order may be given.

  Next, returning to the description of step S602, in step S602, the arithmetic processing unit 4 refers to the search algorithm table 34 and selects a search algorithm corresponding to the area extracted in step S601 (step S602).

  Note that the algorithms may be selected so as to follow the order of priorities if they are determined in advance. The algorithm may be selected at random or may be selected according to the distance to the destination or the number of times rerouted so far.

  Next, the arithmetic processing unit 4 acquires an entity such as an execution file of the search algorithm selected in Step S602 (Step S603). Then, the obtained search algorithm is executed to perform reroute processing (step S604).

  Next, in order to leave a history of reroute information, the arithmetic processing unit 4 reroutes information indicating at what time the vehicle is located at which position, and which search algorithm is used to recalculate what route. It records in the information recording part 35 (step S605).

  In step S602, if there are a plurality of search algorithm candidates, these candidates may be presented to the user and the user may select from them. For example, the search algorithm candidates are listed and displayed on the display, or the candidates are presented to the user by reading them out by voice. Thereafter, the user selects by touching the corresponding search algorithm on the display, or selects by voice input.

  Further, the user may directly determine the parameters of each search algorithm. For example, if “right turn tendency” in the search algorithm list 33 is listed as an algorithm candidate, the parameter “right turn is 70%” may be clearly specified by the user.

  In step S605, one of the search algorithms is selected, and rerouting based on the selected search algorithm is performed. However, while a plurality of search algorithm candidates are selected, rerouting is performed using each search algorithm, and reroute is performed. The result may be presented to the user so that the user can select a route.

  Further, the road regulation information recorded in the data storage unit 3 may be used in the following procedure. First, when approaching the destination, all road regulation information within a certain distance from the destination is ignored. Since the accuracy of the road regulation information cannot be confirmed, the road regulation information is blank. As the vehicle travels near the destination, it can be determined that the road regulation information is reliable by the in-vehicle camera process in step S105, the user input process in step S106, and / or the vehicle behavior analysis process in step S402. In this case, road regulation information is written in the map data in the data storage unit 3. In this way, even if the vehicle is slightly detoured, accurate road regulation information may be created, and information for reaching the destination more accurately may be accumulated while repeating reroute.

  Accordingly, it is possible to provide a navigation device that performs navigation according to a guide route set by a search algorithm that takes into account regional characteristics.

  Next, the arithmetic processing unit 4 executes guidance after execution of the reroute process (step S407). In this post-reroute guidance processing, information indicating what route is used for what reason and what kind of search algorithm is used, and information indicating what route is obtained after the reroute is presented to the user. Hereinafter, the post-reroute guidance process will be described with reference to the flowchart of FIG. 17 (steps S701 to S705).

  First, the arithmetic processing unit 4 refers to the reroute information recording unit 35 and acquires a history of past reroute processing (step S701). With respect to past reroute processing, information indicating what kind of reason the vehicle is at which position at what time, and what route is recalculated using what search algorithm is acquired.

  Next, the arithmetic processing unit 4 analyzes the route after the reroute (step S702). The arithmetic processing unit 4 calculates the route to the destination and the arrival time, and creates an outline of the route. For example, the route outline is information that uses directions such as “I will approach the destination from the west”, or information that uses place names and road names such as “I will pass through the town”. is there. Further, in step S701, past route information may be referred to, and information on the contents of changes due to reroute such as “distance will be longer by Δm” and “arrival time will be delayed by Δ” may be created. In addition, regarding the change contents of the outline of the route, information on the change contents may be created such as "I was going from the south side of the destination, but was changed to go from the east side". If the route is changed because the search algorithm used for the reroute has changed despite the reroute at the same location as the previous reroute, simple information such as `` Calculated a route different from the previous route '' will be displayed. It may be created.

  Next, the arithmetic processing unit 4 refers to the reroute information recording unit 35 and analyzes the cause of the re-search for the route (step S703). For example, if the error in the road regulation information has been clarified by the user input process in step S106 and the search has been made again due to the error, the arithmetic processing unit 4 will re-route due to an error in the road regulation information. ”Is created. In addition, the arithmetic processing unit 4 is similar to the above if the error in the road regulation information has been clarified by the vehicle behavior analysis process in step S402 and the dialogue process in step S403, and the search is caused again. , Create information that can be used to guide you that you have rerouted due to an error in road regulation information.

  In addition, the arithmetic processing unit 4 refers to the detailed reroute processing recorded in the reroute information recording unit 35 (step S704). If the referred result is the information “prohibit right turn” and / or “prohibit entry”, the arithmetic processing unit 4 creates information that can guide, for example, “Reroute due to prohibition of right turn”.

  Further, the arithmetic processing unit 4 creates information that can guide what search algorithm is used when rerouting. For example, information is generated that “the current location is near a sightseeing spot and there is a lot of road regulation information, so the number of right / left turns was limited and re-searching was performed”. Further, in more detail, the parameters of each search algorithm are disclosed, and for example, right and left turns are limited to two times, ”information that can be guided using specific numerical values may be created. Next, the guide information created so far is presented to the user (step S705).

  Thereby, the navigation apparatus which can show a route information after a re-search to a user can be provided.

  When the route departure determination process in step S107 is completed, guidance data necessary for the guidance guidance is created according to the traveling state of the vehicle (step S108). In other words, the guidance data is used to specify information about a guidance target point existing on the route from the vehicle position to the destination, such as an intersection or a branch point, a traveling direction at the guidance target point, and a guidance target point. Information about the information, the road name, and the timing for providing the information is included.

  Next, the arithmetic processing unit 4 performs guidance guidance processing based on the guidance data created in step S108 (step S109). In this guidance and guidance process, when the vehicle approaches the guidance target point, an enlarged view of the intersection is displayed on the display, or easy-to-understand guidance by 3D display is performed. In addition, voice guidance is performed at a predetermined timing.

  Next, the arithmetic processing unit 4 determines whether or not the vehicle has arrived at the destination (step S110). If it is determined that the vehicle has arrived at the destination, information that informs the driver that the vehicle has arrived at the destination is provided by the arithmetic processing unit 4 in step S111, and the processing is terminated. On the other hand, if it is determined that the destination has not been reached, the process returns to step S103 again. Therefore, the processes in steps S103 to S109 are repeated until the destination is reached.

  In the present invention, a software program for realizing the above-described embodiment (in the embodiment, a program corresponding to the flowchart shown in the figure) is supplied to the apparatus, and the computer of the apparatus reads the supplied program. And the case where it is achieved by executing. Therefore, in order to implement the functional processing of the present invention on a computer, the program itself installed in the computer also implements the present invention. That is, the present invention also includes a navigation program for realizing the functional processing of the present invention.

  The configuration described in the above embodiment is merely a specific example and does not limit the technical scope of the present invention. Any configuration can be employed within the scope of the effects of the present application.

  The present invention is useful for a car navigation device, a personal computer, a mobile phone, a PDA, and the like.

The block diagram which shows the navigation apparatus which concerns on embodiment of this invention The flowchart which shows operation | movement of the navigation apparatus concerning embodiment of this invention. Flow diagram showing in-vehicle camera processing The figure which shows an example of the recognition method of another vehicle in vehicle-mounted camera processing The figure which shows an example of the recognition method of another vehicle in vehicle-mounted camera processing The figure which shows an example of a road regulation information pattern table The figure which shows an example of the image ahead of a vehicle in vehicle-mounted camera processing Schematic diagram showing road and own vehicle position Schematic diagram showing an example of whether there is an intersection within the shooting range of the shooting unit Flow chart showing user input processing Schematic diagram showing an example of a state where the guide route is against actual road regulations Flow diagram showing route departure determination processing Flow diagram showing vehicle behavior analysis processing The figure which shows an example of a vehicle action basic pattern table Flow diagram showing reroute processing Figure showing an example of a search algorithm list The figure which shows an example of a search algorithm table The figure which shows an example of the search of a search algorithm Flow diagram showing guidance processing after reroute

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Input part 2 Positioning part 3 Data storage part 31 Vehicle information log recording part 32 Vehicle action basic pattern table 33 Search algorithm list 34 Search algorithm table 35 Reroute information recording part 4 Arithmetic processing part 41 Vehicle action analysis part 42 Road regulation information correction part 5 Output unit 6 Shooting unit

Claims (9)

A navigation device that navigates according to a guide route to a destination set in map data,
A vehicle behavior basic pattern table that stores a driving situation in which the vehicle is predicted to have left the guide route in association with road regulation information;
A positioning unit that measures the vehicle position;
A route search unit for searching a guide route;
A departure determination unit that determines whether or not the vehicle has left the guide route;
A vehicle information log recording unit that records a running situation when it is determined that the departure determination unit has left;
With reference to the vehicle action basic pattern table, a vehicle action analysis unit that identifies road regulation information corresponding to the travel situation recorded by the vehicle information log recording unit;
A navigation device comprising: a correction unit that corrects an error in the road regulation information of the map data based on the road regulation information specified by the vehicle behavior analysis unit.   2. The vehicle information log storage unit and the vehicle behavior basic pattern table are recorded in the same format format of dot and / or vector data and can be compared with each other, according to claim 1. Navigation device.   The navigation apparatus according to claim 1, wherein the vehicle behavior basic pattern table records a pattern that leaves at a branch point.   The navigation device according to claim 3, wherein the vehicle behavior basic pattern table records a pattern caused by the inability to enter the road as a pattern leaving at a branch point.   4. The navigation device according to claim 3, wherein the vehicle action basic pattern table records a pattern caused by an unnecessary stop as a pattern to leave.   The vehicle behavior analysis unit further includes a photographing unit, and road regulation information corresponding to the traveling state of the own vehicle recorded by the vehicle information log recording unit using a result of image recognition of the video photographed by the photographing unit. The navigation device according to claim 1, wherein the navigation device is specified. It further includes an input unit that receives input from the user,
When the vehicle behavior analysis unit specifies a plurality of road regulation information corresponding to the traveling state of the own vehicle recorded by the vehicle information log recording unit, the vehicle behavior analysis unit presents the specified plurality of road regulation information to the user and responds to the presentation The navigation apparatus according to claim 1, wherein one road regulation information corresponding to a selection instruction input by a user from an input unit is specified. A navigation method for navigating according to a guide route to a destination set in map data,
A vehicle behavior basic pattern storage step for storing a driving situation in which the vehicle is predicted to have left the guide route in association with road regulation information;
A positioning step for measuring the vehicle position;
A route search step for searching for a guide route;
A departure determination step for determining whether or not the vehicle has left the guide route;
A vehicle information log recording step for recording a running situation when it is determined that the vehicle has left in the departure determination step;
A vehicle behavior analysis step for identifying road regulation information corresponding to the driving situation recorded in the vehicle information log recording step with reference to the road regulation information stored in the vehicle behavior basic pattern storage step;
A navigation method comprising: a correction step of correcting an error in the road regulation information of the map data based on the road regulation information specified in the vehicle behavior analysis step. A navigation program that is executed by a computer of a navigation device that performs navigation according to a guide route to a destination set in map data,
In the computer,
A vehicle behavior basic pattern storage step for storing a driving situation in which the vehicle is predicted to have left the guide route in association with road regulation information;
A positioning step for measuring the vehicle position;
A route search step for searching for a guide route;
A departure determination step for determining whether or not the vehicle has left the guide route;
A vehicle information log recording step for recording a running situation when it is determined that the vehicle has left in the departure determination step;
A vehicle behavior analysis step for identifying road regulation information corresponding to the driving situation recorded in the vehicle information log recording step with reference to the road regulation information stored in the vehicle behavior basic pattern storage step;
A navigation program for executing a correction step for correcting an error in the road regulation information of the map data based on the road regulation information specified in the vehicle behavior analysis step.

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