JP2010026326A - Road network data generating device, vehicle guide path generating device, and method and program for them - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To generate a road network data by which lanes in an intersection can be calculated as needed. <P>SOLUTION: An intersection cutting out device (114) cuts out an intersection range from lane data (110), and outputs junction point data (114a) indicating the junction point of each lane with the intersection and outside intersection lane data (114b). An intersection DB generating device (116) generates, in accordance with the junction point data (114a) and traveling direction attribute data contained in attribute data (112), an intersection database having one or more combinations of approach points and exit points on which one can proceed at the intersection and stores it on a hard disk (118). A composing device (122) combines the outside intersection lane data (114b) and the intersection database to generate rood network data (124). <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a road network data generation device, a vehicle taxiway generation device, and methods and programs thereof.

  Map data for car navigation route guidance is expressed as road network data. Such road network data or road map data can be generated, for example, by extracting road portions from aerial photographs and converting them into data. A method of adding unregistered road data by collating existing road network data with aerial photographs is also known (for example, Patent Document 1).

  Also, Patent Documents 2 and 3 describe systems that run on-site with a vehicle equipped with a GPS receiver and create a road map.

The driving lane in the intersection of the road is virtual and has been input manually.
JP 2008-020604 A JP 2007-206099 A JP 2002-318533 A

  Road network data also requires more precise navigation in lanes even for navigation applications. For example, a route having three or more lanes, an intersection thereof, and the like. When the purpose is to control a vehicle automatically or semi-automatically, road data for each lane is also required.

  When a road is managed or expressed in units of traveling lanes, there are many combinations of incoming and outgoing lines at intersections. If this is converted into data in advance and included in the road network data, it is input manually, and the included intersections are limited to those of a certain scale or larger. In addition, if the road network data is provided with the traffic lane data in the intersection, the total data amount is greatly increased.

  On the other hand, the total amount of road network data can be reduced by calculating the driving lanes in the intersection with a dedicated calculation device or program during actual driving.

  It is an object of the present invention to present a road network data generation device and a vehicle taxiway generation device that meet such demands, and methods and programs thereof.

  The road network data generation device according to the present invention cuts an intersection range from lane data, and outputs intersection lane data and connection point data indicating a connection point of each lane indicated by the lane data with the intersection. And an intersection database generating device that generates an intersection database having one or more combinations of an entry point and an exit point that can proceed at the intersection according to the connection point data and the traveling direction attribute data indicating the traveling direction of each lane And a synthesizing device for generating road network data including the intersection lane data from the intersection clipping device and the intersection database from the intersection database generating device.

  The road network data generation method according to the present invention cuts an intersection range from lane data, and outputs intersection lane data and connection point data indicating a connection point with each intersection of each lane indicated by the lane data. And an intersection database generation step of generating an intersection database having one or more combinations of an entry point and an exit point that can proceed at the intersection according to the connection point data and the traveling direction attribute data indicating the traveling direction of each lane And a synthesizing step for generating road network data including the intersection outside lane data by the intersection clipping step and the intersection database by the intersection database generating step.

  The road network data generation program according to the present invention causes a computer to cut out an intersection range from lane data, and outputs lane data outside the intersection and connection point data indicating a connection point of each lane indicated by the lane data with the intersection. An intersection cut-out function, an intersection having at least one combination of an entry point and an exit point that can proceed at the intersection according to the connection point data and the traveling direction attribute data indicating the traveling direction of each lane in the computer An intersection database generation function for generating a database, and a compositing function for causing the computer to generate road network data including the intersection lane data by the intersection cutout function and the intersection database by the intersection database generation function And

  A vehicle taxiway generating device according to the present invention provides a vehicle taxiway that guides a vehicle in accordance with road network data including lane data outside an intersection and an intersection database having one or more combinations of advancing entry points and exit points. A vehicle taxiway generating device for generating an entry point and an exit point according to a means for determining an entry point and an exit point of the intersection, a means for detecting the approach of the vehicle to the intersection, and the intersection database An intersection lane generator for generating intersection lane data indicating intersection lanes for the combination, and means for connecting the intersection lane generated by the intersection lane generator to the approach lane and the exit lane of the intersection It is characterized by comprising.

  A vehicle taxiway generating method according to the present invention includes a vehicle taxiway that guides a vehicle according to road network data including lane data outside an intersection and an intersection database having one or more combinations of advancing entry points and exit points. In the method of generating, the step of determining the entry and exit points of the intersection, the step of detecting the approach of the vehicle to the intersection, and within the intersection for the combination of the entry and exit points according to the intersection database An intra-intersection lane generation step for generating in-intersection lane data indicating a lane, and an inter-intersection lane generated by the intra-intersection lane generation step, connected to an approach lane and an exit lane of the intersection Features.

  A vehicle taxiway generation program according to the present invention generates a taxiway for guiding a vehicle according to road network data including lane data outside an intersection and an intersection database having one or more combinations of advancing entry points and exit points. A computer program for determining the entry and exit points of the intersection, a function for causing the computer to detect the approach of the vehicle to the intersection, and the computer according to the intersection database. The intersection lane generation function for generating the intersection lane data indicating the intersection lane for the combination of the entry point and the exit point, and the intersection lane generated by the intersection lane generation function in the computer And a function of connecting to an approach lane and an exit lane.

  According to the present invention, by including the intersection database in the road network data, the data amount of the road network data can be reduced. Intersection lanes can be obtained when necessary, and it is possible to guide vehicles in lane units or to automatically or semi-automatically control their operation while reducing the amount of road network data.

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

  FIG. 1 shows a schematic block diagram of the embodiment. FIG. 2 shows an operation flowchart of this embodiment.

  The present embodiment includes a road network data generation device 100 and a vehicle guidance device 130 that controls navigation or driving of the vehicle according to the road network data generated by the device 100.

  Lane data 110 and attribute data 112 indicating its attributes are input to the road network data generation apparatus 100 (S1, S2). The lane data 110 is vector data that defines the center line of a lane by a function that expresses a line segment or its coefficient, and is obtained by aerial photography, aviation laser survey, field survey, or the like. As an expression method, there may be a method for defining the center line of the lane, a method for defining the center line and the width of the lane, and a method for defining both side edges of the lane. Because it is easy to understand, it is assumed to be the center line. The attribute data 112 includes information for identifying a route or road to which each lane belongs, and includes traveling direction data indicating the traveling direction of the vehicle.

  FIG. 3 shows an example of a crossroad. In the example shown in FIG. 3, four roads A, B, C, and D are connected to the intersection. The road A includes four approach lanes that enter the intersection, and three exit lanes that exit from the intersection. One approach lane is for a right turn. Road B has two approach lanes and one exit lane. Road C has three approach lanes and three exit lanes. Road D has three approach lanes and three exit lanes. One approach lane is for a right turn.

  In aerial photography, lanes can be separated by lane boundaries. In the processing at this stage, as illustrated in FIG. 3, lane data for connecting lanes of the opposing roads may be formed in the intersection. Of course, in this embodiment, when lane data without lane data in the intersection can be obtained, the lane data may be used.

  In the aerial photograph, the restriction of the traveling direction can be simultaneously read by the traveling direction symbol printed on the road. Of course, the results of field surveys are also used. The traveling direction data of the attribute information is collected and input in this way.

  The intersection cutout device 114 cuts out the portion surrounding the intersection from the lane data 110, determines the connection points (that is, the entry point to the intersection and the exit point from the intersection) where each lane connects to the intersection from the outside of the intersection. Connection point data 114a indicating the three-dimensional coordinate value of the point (at least the coordinate value of the horizontal plane) is output (S3). FIG. 4 shows an example of an intersection cutout for the example of the intersection shown in FIG. In the example shown in FIG. 4, numbers are assigned in order of 1, 2, 3,... From the outside to the lane that becomes the approach line, and 11, 12, 13,. Numbers are given in order.

  Basically, the intersection range may be a range in which a polygon whose vertex is the intersection of the contour lines of the intersecting roads is set, and this polygon is extended by a predetermined distance outside the intersection. The intersection portion of the road can be automatically searched, and of course, it may be manually specified. After searching or specifying the intersection portion, the intersection range may be automatically determined by such a method. Needless to say, it may be better to decide manually at the intersection of complicated intersections. That is, the intersection cutout device 114 can accept an operation for manually setting the intersection range.

  When the lane data 110 is expressed by the end points up to the intersection range, the intersection cutout device 114 extracts each end point as a connection point. When the lane data 110 is expressed as a line segment passing through the inside of the intersection, the intersection clipping device 114 determines the entry point to the intersection and the departure point from the intersection as the connection points.

  The intersection cutout device 114 also outputs lane data (outer intersection lane data) 114b that includes a connection point with the intersection as an end point and does not include a line segment within the intersection. When the lane data 110 is expressed by the end points up to the intersection range, the lane data 110 becomes the non-intersection lane data 114b as it is.

  The connection point data 114a is input to the intersection database (intersection DB) generator 116. Further, attribute data 112 is input to the intersection DB generation device 116. As described above, the attribute data 112 includes information indicating the traveling direction of each lane represented by the lane data 110, and the intersection DB generation device 116 sets the traveling direction data as the attribute for the following processing. Extracted from the data 112 (S4). The intersection DB generation device 116 uses the connection point data 114a from the intersection cutout device 114 and the traveling direction data of the attribute data 112 to enter and exit points (exit lanes) for each road (route) connected to the intersection. ) Is generated and stored in the hard disk 118 (S5). FIG. 5 shows an example of the contents of the intersection DB for the intersection example shown in FIG.

  In the example shown in FIG. 5, lane data is given for each traveling direction. For example, for an approach lane capable of both turning left and going straight, a record indicating an exit point (exit lane) capable of turning left and a record indicating an exit point (exit lane) capable of going straight are provided. As a result, in the case of a route search, it becomes possible to determine the possibility of progress and facilitate.

  FIG. 6 shows a flowchart of the intersection DB generation device 116 that generates an intersection database for one intersection.

  First, a route to be an approach route is selected (S11). For example, this may be selected in order from a route connected to the intersection of interest on a constant basis. In the example shown in FIG. 4, for example, route A is selected. Moreover, an approach lane is selected in the selected route A (S12). For example, in the selected approach route A, lanes are selected in order of young lane numbers. Initially, the lane of lane number 1 on route A is selected.

  Next, a route to be exited, that is, an exit route is selected (S13). When a U-turn is permitted within the intersection, the same route as the approach route is selected in order. For example, the intersection is selected in order from the route selected as the approach route in the counterclockwise direction around the intersection. In the example shown in FIG. 4, the route D is selected.

  It is confirmed whether or not it is possible to proceed with the combination of the selected approach lane and the selected exit route (S14). It is possible to proceed when the exit route is located in the direction in which the travel is permitted with respect to the approach lane, or when the travel is not in the direction in which the travel is prohibited.

  When it is possible to proceed (S14), the one suitable for entering from the exit lane of the exit route is selected (S15). If there is only one exit lane on the exit route, select it. If there are multiple exit lanes in the exit lane, the exit lane is selected as follows. That is, from the lane number obtained by adding 10 to the lane number of the approach lane, the presence or absence of the lane number with the younger lane number is checked, and the lane first found is selected as the exit lane. For example, when the lane number of the approach lane is 3, the presence / absence of the lane numbers 13, 12, and 11 is checked in order as the exit lane, and the first found lane is selected as the exit lane. The leftmost lane of the exit route may be uniformly selected as the exit lane, but by selecting as in the present embodiment, a route having a plurality of travel lanes while avoiding intersections within the intersection as much as possible It is possible to effectively utilize the plurality of traveling lanes.

  In this embodiment, it is assumed that a U-turn in the intersection is not possible in the first place. However, in the case of corresponding to the U-turn in the intersection, the exit lane is selected in order from the lane outside the exit route. This makes it possible to obtain as large a turning radius as possible and facilitate a U-turn.

  The selected approach route, approach lane, exit route, and exit lane are specified, and a record describing the traveling direction is added to the intersection database (S16).

  The next exit route is selected from the unexamined exit routes (S18), and the processes of steps S14 to S16 are executed. That is, the processes in steps S14 to S16 are executed for all exit routes. For example, the routes A, B, C, and D are sequentially selected as the exit routes for the approach route A, and the processes of steps S14 to S16 are executed.

  When there is a next approach lane on the selected approach route (S19), the next approach lane is selected (S20), the process returns to step S13, and steps S13 to S18 are executed again.

  When the processing of steps SS13 to S18 is completed for all the approach lanes of the selected approach route (S19), the next approach route is selected (S21, S22), and the process returns to step S12. That is, the process of steps S12 to 19 is executed for the next approach route, for example, route B.

  In the example shown in FIG. 4 for all approach routes, when the processing of steps S12 to S19 is executed for all of the routes A, B, C, and D (S21), the intersection database creation processing is terminated. Thereby, an intersection database as shown in FIG. 5 is generated and stored in a hard disk (not shown). The intersection database shown in FIG. 5 also includes information on the direction of travel, but this is for convenience of searching for whether or not this intersection can travel on the condition of travel direction. Is not necessary.

  The synthesizing device 122 synthesizes the intersection lane data 114b from the intersection clipping device 114 and the intersection database generated by the intersection DB generating device 116, and stores the obtained road network data 124 in the hard disk (S6).

  Thus, the road network data necessary for navigation or traveling control is obtained. The road network data 124 is set in a vehicle navigation device 130 such as a car navigation device or a travel control device that controls the operation of the vehicle.

  In the vehicle guidance device 130, the route search device 132 searches for a route by referring to the road network data 124 according to the current location / destination input by the user, generates route data as a vehicle guidance route, and displays it on the screen. The vehicle is guided by vehicle traveling control (S7). This route data is superimposed and displayed as a route on the map on the monitor screen. In the case of travel control, a control device (not shown) controls the travel of the vehicle according to the obtained route data.

  When the current vehicle location approaches an intersection in the route up to a certain distance (S8), the route search device 132 supplies the intersection ID for identifying the intersection and information on the approach lane and the exit lane to the in-intersection lane generation device 134.

  The intersection lane generation device 134 reads the intersection database of the intersection from the road network data 124 using the intersection ID from the route search device 132 as a search key. Then, the information of the approach lane and the exit lane from the route search device 132 is applied to this intersection database, the lane data in the intersection is generated by the process described later, and the generated lane data in the intersection is supplied to the route search device 130 (S9). ).

  The route search device 132 combines the in-intersection lane data from the in-intersection lane generation device 134 with the out-of-intersection lane data of the searched route, and outputs it to the display / control device 136 as vehicle guidance route data or route data.

  The display / control device 136 displays the route according to the route data from the route search device 132 on the screen of the display device so as to overlap the map, or controls the vehicle to travel according to the route data from the route search device 132. .

  FIG. 7 shows a flowchart of an in-intersection lane data generation operation by the in-intersection lane generator 134.

  First, records corresponding to the approach lane and the exit lane designated by the route search device 132 are selected from the intersection database and read (S31). Based on the information on the direction of travel of the selected record, it is checked whether the vehicle is going straight, turning left or turning right (S32).

  In the case of a left turn or a right turn (S32), the entry point and the exit point are connected by a single arc, for example, an arc represented by a quadratic Bezier curve (S33). Since the maximum speed at which the vehicle can safely travel within the intersection is known, an arc having a radius of curvature that can rotate without exceeding this speed may be used.

  As a more mathematical method, the intersection lane may be determined as follows. FIG. 8 is an example of an intersection lane for the records 4 and 14 in the intersection database (FIG. 5), and the calculated intersection lane is indicated by a solid line. Extend the entry and exit lanes into the intersection and find the intersection. The distance between the intersection point and the entry point and the exit point is measured, and a distance point (correction point) corresponding to the short distance is set on a line connecting the intersection point and the far connection point. Then, the connection point closer to the intersection and the correction point are connected by a Bezier curve in a three-point configuration including the intersection, the connection point closer to the intersection, and the correction point. The line drawn by this Bezier curve is defined as an intersection lane.

  In the example shown in FIG. 8, for the record 4 in the intersection database (FIG. 5), the intersection 30 and the route are compared to the intersection 30 obtained by extending the lane 4 of the route A and the lane 11 of the route B into the intersection. A correction point 32 is set on a line connecting the lane 4 of A. Then, for the three points consisting of the intersection 30, the correction point 32, and the connection point (exit point) of the intersection of the lane 11 of the route B, an arc by a secondary Bezier curve is set, and the lane 34 in the intersection To do. And the line in the intersection which connects the correction point 32 and the lane 4 of the route A is also set as the in-intersection lane 34.

  For the record 14 of the intersection database (FIG. 5), the intersection 36 and the lane 3 of the route C are connected to the intersection 36 obtained by extending the lane 3 of the route C and the lane 13 of the route D into the intersection. A correction point 38 is set on the line to be processed. Then, for the three points including the intersection 36, the correction point 38, and the connection point (entrance point) between the lane 13 of the route D and the intersection, an arc of a secondary Bezier curve is set, and the lane 40 in the intersection To do. And the line in the intersection which connects the correction point 38 and the lane 3 of the route C is also set as the intersection lane 40. FIG.

  In the case of straight travel (S32), the entry point and the exit point are retreated by a predetermined distance (separated from the intersection), and then connected in two S-shaped arcs (S34). FIG. 9 shows the intersection lane for the record 7 in the intersection database (FIG. 5) by a solid line. In the case of going straight, in general, even if the approach lane and the exit lane are extended into the intersection, the intersection may not be obtained. Step S34 is also an intersection lane generation method corresponding to such a case.

  In the example shown in FIG. 9, even if the approach lane 1 of the route B and the exit lane 11 of the route D are extended into the intersection, the intersection cannot be obtained. In this case, a midpoint 42 on the line connecting the entry point (connection point with the intersection of the approach lane 1 on the route B) and the exit point (connection point with the intersection of the exit lane 11 on the route D) is set. A reverse point 44 away from the entry point by a distance equal to the distance between the midpoint 42 and the entry point is set on the approach lane. Similarly, a reverse point 46 away from the exit point by a distance equal to the distance between the middle point 42 and the exit point is set on the exit lane. Then, with respect to the three points including the middle point 42 and the retreat points 44 and 46, an arc formed by a secondary Bezier curve connecting the retreat points 44 and 46 is set as an intersection lane 48. Alternatively, a quadratic Bezier curve that connects the retreat point 44 and the midpoint 42 is set for the three points including the retreat point 44, the entry point, and the midpoint 42, and the midpoint 42, the exit point, and the retreat point 46 are included. A secondary Bezier curve connecting the midpoint 42 and the retreat point 46 is set for the three points, and both Bezier curves are connected to form an intersection lane 48.

  When the safety is expected, the retreat distances of the retreat points 44 and 46 may be determined in advance as a constant distance that does not deviate from the width of the lane.

  As described above, step S34 is an in-intersection lane generation process in the case where an intersection cannot be obtained even if the approach lane and the exit lane are extended into the intersection. Therefore, the branch condition in step S32 may be set to determine whether or not the intersection can be obtained when the approach lane and the exit lane are extended into the intersection. If the intersection can be obtained, step S33 is executed. If the intersection cannot be obtained, step S34 is executed. Regardless of the direction of travel, when the intra-intersection lane generation process of step S34 is employed, the intersection database 18 may not have information on the direction of travel for the purpose of generating intra-intersection lane data.

  In the flow shown in FIG. 7, it is assumed that the U-turn in the intersection is not possible in the first place. If it is assumed that there is a U-turn in the intersection, it is not possible to obtain the intersection even if the approach lane and the exit lane are extended into the intersection. It only has to be generated.

  According to the present embodiment, an intersection database describing the advancing directions in the intersection is placed in the road network data, and the data amount of the road network data can be reduced by generating the lane data in the intersection during actual traveling. Navigation in lane units can be performed, and automatic or semi-automatic control in lane units of vehicle travel can be realized within an intersection.

  The main functions of the present embodiment are realized by a computer and program software operating on the computer, but of course, it can also be realized by dedicated hardware and its firmware.

  Although the invention has been described with reference to specific illustrative embodiments, various modifications and alterations may be made to the above-described embodiments without departing from the scope of the invention as defined in the claims. This is obvious to an engineer in the field to which the present invention belongs, and such changes and modifications are also included in the technical scope of the present invention.

1 shows a schematic block diagram of an embodiment of the present invention. The operation | movement flowchart of the Example shown in FIG. 1 is shown. An example of a crossroad intersection is shown. An example of the cutout of the intersection with respect to the example of intersection shown in FIG. 3 is shown. The example of the content of intersection DB with respect to the intersection example shown in FIG. 3 is shown. The flowchart of the intersection DB production | generation operation | movement by the intersection DB production | generation apparatus 116 is shown. 5 is a flowchart of an in-intersection lane generation operation by the in-intersection lane generation device 134. This is an example of an in-intersection lane connecting the lane 4 of the route A and the lane 11 of the route B, and an in-intersection lane connecting the lane 3 of the route C and the lane 13 of the route D. It is an example of an in-intersection lane that connects an approach lane 1 on route B and an exit lane 11 on route D.

Explanation of symbols

30: Intersection 32: Correction point 34: Intersection lane 36: Intersection 38: Correction point 40: Intersection lane 42: Middle point 44, 46: Retreat point 48: Intersection lane 100: Road network data generator 110: Lane data 112: Attribute data 114: Intersection clipping device 114a: Connection point data 114b: Outside intersection lane data 116: Intersection DB generation device 122: Compositing device 124: Road network data 130: Vehicle guidance device 132: Route search device 134: Interlane lane Generation device 136: display / control device

Claims (18)

An intersection cutout device (114) for cutting out the intersection range from the lane data, and outputting the intersection lane data and the connection point data indicating the connection point of each lane indicated by the lane data with the intersection;
An intersection database generation device (116) that generates an intersection database having one or more combinations of an entry point and an exit point that can proceed at the intersection according to the connection point data and the traveling direction attribute data indicating the traveling direction of each lane. )When,
A synthesizing device (122) for generating road network data composed of lane data outside the intersection from the intersection clipping device and the intersection database from the intersection database generation device
A road network data generation device comprising:   2. The road network data generation device according to claim 1, wherein the intersection database includes traveling direction data indicating a traveling direction for each lane within the intersection. The intersection database generation device
Route selection means (S13, S14) for sequentially selecting routes that can travel from the entry point;
Search means for searching for an exit point that can proceed in order from the exit point of the same rank as the entry point as viewed from the outside of the route in order toward the outside of the route within the route selected by the route selection means (S15 )When,
Additional means for adding the exit point first searched by the search means to the intersection database as a pair of the entry points (S16)
The road network data generation device according to claim 1 or 2, further comprising: An intersection cutout step (114) for cutting out the intersection range from the lane data, and outputting the intersection lane data and the connection point data indicating the connection point of each lane indicated by the lane data with the intersection;
An intersection database generation step (116) for generating an intersection database having at least one combination of an entry point and an exit point that can proceed at the intersection according to the connection point data and the traveling direction attribute data indicating the traveling direction of each lane. )When,
A synthesizing step (122) of generating road network data including the lane data outside the intersection obtained by the intersection clipping step and the intersection database created by the intersection database generating step
A road network data generation method comprising:   5. The road network data generation method according to claim 4, wherein the intersection database includes traveling direction data indicating a traveling direction for each lane within the intersection. The intersection database generation step includes:
A route selection step (S13, S14) for sequentially selecting routes that can travel from the entry point;
Search step for searching for exit points that can proceed in order from the exit point of the same rank as the entry point as viewed from the outside of the route in order toward the outside of the route in the route selected in the route selection step (S15) )When,
Additional step of adding the exit point first searched in the search step to the intersection database as a pair of the entrance points (S16)
The road network data generation method according to claim 4 or 5, characterized by comprising: An intersection cutout function (114) for causing the computer to cut out the intersection range from the lane data, and to output out-of-intersection lane data and connection point data indicating a connection point of each lane indicated by the lane data with the intersection;
An intersection database that causes the computer to generate an intersection database having at least one combination of an entry point and an exit point that can proceed at the intersection according to the connection point data and the traveling direction attribute data indicating the traveling direction of each lane. Generation function (116);
A compositing function for causing the computer to generate road network data including the lane data outside the intersection by the intersection cutout function and the intersection database by the intersection database generation function (122)
A road network data generation program.   8. The road network data generation program according to claim 7, wherein the intersection database includes traveling direction data indicating a traveling direction for each lane in the intersection. The intersection database generation function is
A route selection function (S13, S14) for causing the computer to sequentially select routes that can proceed from the entry point;
Causes the computer to search for exit points that can proceed in order from the exit point of the same rank as the entry point as viewed from the outside of the route in order toward the outside of the route within the route selected by the route selection function. Search function (S15);
Additional function for causing the computer to add the exit point first searched by the search function to the intersection database as a pair of the entry points (S16)
The road network data generation program according to claim 7 or 8, characterized by comprising: A vehicle taxiway generating device that generates a vehicle taxiway that guides a vehicle according to road network data including lane data outside an intersection and an intersection database having one or more combinations of advancing entry points and exit points,
Means (132) for determining the entry and exit points of the intersection;
Means (132) for detecting the approach of the vehicle to the intersection;
An in-intersection lane generating device (134) for generating in-intersection lane data indicating an in-intersection lane for a combination of an entry point and an exit point according to the intersection database;
A vehicle taxiway generating device comprising means for connecting an in-intersection lane generated by the in-intersection lane generating device to an approach lane and an exit lane of the intersection. The intersection lane generator is
When the combination of the entry point and the exit point in the intersection database is straight ahead, the points where the entry point and the exit point are moved backward by a predetermined distance are connected by two arcs to form the lane within the intersection. First intersection lane generation means (S34);
When the combination of the entry point and the exit point in the intersection database is either a left turn or a right turn, connect the entry point and the exit point with a single arc to be the second intersection in the intersection Lane generation means (S33)
The vehicle taxiway generating device according to claim 10, comprising: The intersection lane generator is
Whether the extension line of the intersection lane connected to the entry point into the intersection and the extension line of the intersection lane connected to the exit point into the intersection have an intersection in the intersection Means for determining
If the intersection does not exist, the first point is between the point where the entry point is moved back a predetermined distance along the approach lane outside the intersection and the midpoint of the line connecting the entry point and the exit point. Connect with a curve, connect the exit point outside the intersection with a predetermined distance along the exit lane, connect the middle point with the second point, and connect the first and second curves First in-intersection lane generation means (S34) connected and used as the in-intersection lane;
Second intersection lane generation means (S33) for connecting the entry point and the exit point with a predetermined curve to make the intersection lane when the intersection exists
The vehicle taxiway generating device according to claim 10, comprising: A method for generating a vehicle guideway for guiding a vehicle according to road network data comprising lane data outside an intersection and an intersection database having one or more combinations of advancing entry and exit points,
Determining the entry and exit points of the intersection (132);
Detecting the approach of the vehicle to the intersection (132);
An in-intersection lane generation step (134) for generating in-intersection lane data indicating an in-intersection lane for a combination of an entry point and an exit point according to the intersection database;
A method of generating a vehicle taxiway, comprising: connecting an in-intersection lane generated by the in-intersection lane generation step to an approach lane and an exit lane of the intersection. The intersection lane generation step is
When the combination of the entry point and the exit point in the intersection database is straight ahead, the points where the entry point and the exit point are moved backward by a predetermined distance are connected by two arcs to form the lane within the intersection. A first intersection lane generation step (S34);
When the combination of the entry point and the exit point in the intersection database is either a left turn or a right turn, connect the entry point and the exit point with a single arc to be the second intersection in the intersection Lane generation step (S33)
The vehicle taxiway generating method according to claim 13, further comprising: The intersection lane generation step is
Whether the extension line of the intersection lane connected to the entry point into the intersection and the extension line of the intersection lane connected to the exit point into the intersection have an intersection in the intersection Determining
If the intersection does not exist, the first point is between the point where the entry point is moved back a predetermined distance along the approach lane outside the intersection and the midpoint of the line connecting the entry point and the exit point. Connect with a curve, connect the exit point outside the intersection with a predetermined distance along the exit lane, connect the middle point with the second point, and connect the first and second curves A first in-intersection lane generation step (S34) to connect and use the in-intersection lane;
When the intersection exists, a second intersection lane generation step of connecting the entry point and the exit point with a predetermined curve to make the intersection lane (S33)
The vehicle taxiway generating method according to claim 13, further comprising: A computer program for generating a taxiway for guiding a vehicle in accordance with road network data comprising lane data outside an intersection and an intersection database having one or more combinations of advancing entry points and exit points,
A function of causing a computer to determine an entry point and an exit point of the intersection (132);
A function (132) for causing the computer to detect the approach of the vehicle to the intersection;
An intra-intersection lane generation function (134) for causing the computer to generate intra-intersection lane data indicating an intra-intersection lane for a combination of an entry point and an exit point according to the intersection database;
A vehicle taxiway generating program characterized in that the computer has a function of connecting an in-intersection lane generated by the in-intersection lane generation function to an approach lane and an exit lane of the intersection. The intersection lane generation function
When the combination of the entry point and the exit point in the intersection database is straight ahead, the computer connects the points where the entry point and the exit point have moved backward by a predetermined distance, and connects the two arcs within the intersection. A first intersection lane generation function (S34) as a lane;
When the combination of the entry point and the exit point in the intersection database is either a left turn or a right turn, the computer connects the entry point and the exit point with a single arc to form a second lane within the intersection. Lane generation function for intersection (S33)
The vehicle taxiway generating program according to claim 16, further comprising: The intersection lane generation function
An extension line into the intersection of the intersection lane connected to the entry point and an extension line into the intersection of the intersection lane connected to the exit point are connected to the computer at the intersection. A function to determine whether or not to have,
If the intersection does not exist in the computer, the point between the point where the entry point is retracted a predetermined distance along the approach lane outside the intersection and the midpoint of the line connecting the entry point and the exit point Are connected by a first curve, and the exit point is connected by a second curve between the point that has been retracted a predetermined distance along the exit lane outside the intersection and the middle point. A first intersection lane generation function (S34) that connects the two curves to form the intersection lane;
Second intersection lane generation function for connecting the entry point and the departure point with a predetermined curve to make the intersection lane when the intersection exists in the computer (S33)
The vehicle taxiway generating program according to claim 16, further comprising:

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