JP2010026875A - Road network data generating device and lane generation device in intersection, and generating method and program therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To generate road network data for attaining guiding or operation control of a vehicle by the unit of a lane. <P>SOLUTION: An intersection cut-out device (14) cuts out the section of an intersection from lane data (10) and outputs a connection point data (14a) showing connection points of respective lanes and the intersection and extra-intersection lane data (14b). An intersection DB generating device (16) generates an intersection database having one or more combinations of an entering point and a leaving point where traveling is possible in the intersection according to the connection point data (14) and traveling direction attribute data included in attribute data (12), and stores the database in a hard disk (18). An intra-intersection lane generating device (20) generates intra-intersection lane data from the intersection database. A combining device (22) combines the extra-intersection lane data (14b) with the intra-intersection lane data from the intra-intersection lane generating device (20) to generate the road network data (24). <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a road network data generation device, an intra-intersection lane 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.

Traveling lanes within road intersections cannot be captured by the above-described method, and have 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 on one side, or an intersection thereof. 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 it is attempted to manually convert this into data, it is limited to a large intersection, and there is a demand for an apparatus or program for automatically generating a traveling lane in the intersection.

  It is an object of the present invention to present a road network data generation device and an in-intersection lane generation device that meet such demands, as well as 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 an intra-intersection lane generation device that generates in-intersection lane data indicating an in-intersection lane for each combination of advancing entry and exit points according to the intersection database, an out-of-intersection lane data from the intersection clipping device, and the The intersection lane data from the intersection lane generator is combined to create road network data. Characterized by comprising a synthesizer for generating a.

  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 an intra-intersection lane generation step for generating intra-intersection lane data indicating an intra-intersection lane for each combination of advancing entry and exit points according to the intersection database, and an out-of-intersection lane data from the intersection clipping device and the Combining the intersection lane data from the intersection lane generator Characterized by comprising a synthetic step of generating road network data.

  A road network data generation program according to the present invention causes a computer to cut out an intersection range from lane data, and to output lane data outside the intersection and connection point data indicating a connection point of each lane indicated by the lane data with the intersection. Intersection database having an intersection cut-out function, the computer, the connection point data, and one or more combinations of entry and exit points that can proceed at the intersection according to the traveling direction attribute data indicating the traveling direction of each lane An intersection database generation function for generating an in-intersection lane data indicating an in-intersection lane data for each combination of an approach point and an exit point that can proceed according to the intersection database; Intersection with the intersection cutout function on the computer The intersection lane data by foreign car line data and the intersection lane generation is synthesized, characterized by comprising a synthetic function to generate the road network data.

  An in-intersection lane generation device according to the present invention is an intersection indicating an in-intersection lane for each combination of an approach point and an exit point that can proceed according to an intersection database having one or more combinations of an approach point and an exit point that can proceed at the intersection. An in-intersection lane generating device that generates in-lane data, and 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, respectively When the combination of the first in-intersection lane generating means to connect the two arcs to the in-intersection lane and the entry and exit points in the intersection database is either left turn or right turn, the entry A point and the exit point are connected by a single circular arc, and a second in-intersection lane generating unit is provided as the in-intersection lane.

  An in-intersection lane generation device according to the present invention is an intersection indicating an in-intersection lane for each combination of an approach point and an exit point that can proceed according to an intersection database having one or more combinations of an approach point and an exit point that can proceed at the intersection. An in-intersection lane generating device that generates in-lane data, and for each combination of the entry point and the exit point in the intersection database, an extension line into the intersection of the intersection outside lane connected to the entry point; Determining means for determining whether or not an extension line of the intersection outside lane connected to the exit point has an intersection within the intersection, and if the intersection does not exist, Connect the point that has been 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 with a first curve, and the exit point Connect the point that has been retracted a predetermined distance along the exit lane outside the intersection and the middle point with a second curve, and connect the first and second curves to make the lane within the intersection First in-intersection lane generation means, and second intersection in-lane generation means for connecting the entry point and the exit point with a predetermined curve to make the intersection lane when the intersection exists It is characterized by.

  The method for generating an in-intersection lane according to the present invention is based on an intersection database having at least one combination of an approach point and an exit point that can proceed at an intersection, and an intersection indicating an in-intersection lane for each combination of an approach point and an exit point that can proceed Inter-intralane lane generation method for generating inward lane data, and 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 retreated by a predetermined distance, respectively When the combination of the entry point and exit point in the intersection database is either a left turn or a right turn, the entry A second in-intersection lane generation step in which the point and the exit point are connected by a single arc to form the in-intersection lane. That.

  The method for generating an in-intersection lane according to the present invention is based on an intersection database having at least one combination of an approach point and an exit point that can proceed at an intersection, and an intersection indicating an in-intersection lane for each combination of an approach point and an exit point that can proceed An internal lane generation method for generating internal lane data, wherein for each combination of the entry point and the exit point of the intersection database, an extension line into the intersection of the outside lane connected to the entry point, and A determination step for determining whether an extension line of the intersection outside lane connected to the exit point has an intersection in the intersection, and if the intersection does not exist, Connect the point that has been 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 with a first curve, and Connect a point that has been retracted a predetermined distance along the exit lane outside the intersection and the middle point with a second curve, and connect the first and second curves to the intersection lane A first in-intersection lane generation step, and when the intersection exists, a second in-intersection lane generation step in which the entry point and the exit point are connected by a predetermined curve to be the in-intersection lane. It is characterized by comprising.

  An in-intersection lane generation program according to the present invention is an intersection indicating an in-intersection lane for each combination of an approach point and an exit point that can proceed according to an intersection database having at least one combination of an approach point and an exit point that can proceed at the intersection. A computer program for generating inward lane data, wherein 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, respectively When the combination of the entry point and the exit point in the intersection database is either left turn or right turn, the first in-intersection lane generation function that connects the two arcs to the lane in the intersection and the computer The second intersection where the entry point and the exit point are connected by a single arc to be the lane in the intersection To; and a lane generation unit.

  An in-intersection lane generation program according to the present invention is an intersection indicating an in-intersection lane for each combination of an approach point and an exit point that can proceed according to an intersection database having at least one combination of an approach point and an exit point that can proceed at the intersection. A computer program for generating inward lane data, wherein for each combination of the entry point and the exit point in the intersection database, an extension line into the intersection of the outside lane connected to the entry point A determination function for determining whether an extension line of the intersection outside lane connected to the exit point within the intersection has an intersection in the intersection, and when the intersection does not exist in the computer, Connect the entry point with the entry point and the exit point with the entry point retracted a predetermined distance along the entry lane outside the intersection The middle point is 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 midpoint. The first intersection lane generation function that connects the first and second curves to form the intersection lane, and the entry point and the exit point when the intersection exists in the computer A second in-intersection lane generation function is provided, which is connected by a predetermined curve and is used as the in-intersection lane.

  According to the present invention, it is possible to automatically generate lanes within an intersection, and it is possible to generate road network data that allows a vehicle to be guided in a lane or to be automatically or semi-automatically controlled.

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

  FIG. 1 shows a schematic block diagram of an embodiment of the present invention. The present embodiment automatically generates a traveling lane within an intersection, synthesizes lane data outside the intersection and the automatically generated lane data within the intersection, and generates road network data in which the lanes are continuously connected inside and outside the intersection. . FIG. 2 shows an operation flowchart of this embodiment.

  Lane data 10 and attribute data 12 indicating its attributes are input (S1, S2). The lane data 10 is vector data that defines the center line of a lane by a function expressing a line segment or its coefficient, and is obtained by aerial photography, aviation laser surveying, 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 12 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 14 cuts out the portion surrounding the intersection from the lane data 10, and 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. The connection point data 14a 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 14 can accept an operation for manually setting the intersection range.

  When the lane data 10 is expressed by end points up to the intersection range, the intersection cutout device 14 extracts each end point as a connection point. When the lane data 10 is expressed as a line segment passing through the inside of the intersection, the intersection cutout device 14 determines an entry point to the intersection and a departure point from the intersection as connection points.

  The intersection cutout device 14 also outputs lane data (outer intersection lane data) 14b 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 10 is expressed by the end points up to the intersection range, the lane data 10 becomes the non-intersection lane data 14b as it is.

  The connection point data 14 a is input to the intersection database (intersection DB) generation device 16. Further, the attribute data 12 is input to the intersection DB generation device 16. As described above, the attribute data 12 includes information indicating the traveling direction of each lane represented by the lane data 10, and the intersection DB generation device 16 sets the traveling direction data as the attribute for the following processing. Extracted from the data 12 (S4). The intersection DB generation device 16 determines the approach point (entrance lane) and exit point (exit lane) for each road (route) connected to the intersection from the connection point data 14a from the intersection cutout device 14 and the traveling direction data of the attribute data 12. ) Is generated and stored in the hard disk 18 (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 operation by the intersection DB generation device 16.

  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 the hard disk 18. 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 in-intersection lane generation device 20 sequentially reads each record in the intersection database of the hard disk 18 and generates in-intersection lane data indicating the lane in the intersection (S6). FIG. 7 shows a flowchart of the operation.

  The intersection lane generation device 20 selects and reads the first record in the intersection database (S31). It is checked from the information on the direction of travel of this record 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 shows an example of intersection lanes for records 4 and 14 in the intersection database, and the calculated intersection lanes are indicated by solid lines. 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, the intersection 30 and the lane 4 of the route A 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 the line connecting the two. 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, the intersection 36 obtained by extending the lane 3 of the route C and the lane 13 of the route D into the intersection is corrected to a line connecting the intersection 36 and the lane 3 of the route C. Point 38 is set. 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 record 7 in the intersection database with 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.

  In preparation for an error in generating an intersection database, an error is displayed for a record whose traveling direction is not defined (S32) (S35).

  The above steps S32 to S35 are executed for all the records in the intersection database (S36, S37). That is, if there is an unprocessed record (S36), the next record is selected (S37), and the process returns to step S32.

  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.

  Returning to FIG. 1, the synthesizing device 22 synthesizes the intersection outside lane data 14B from the intersection clipping device 14 and the in-intersection lane data from the in-intersection lane generation device 20, adds attribute data, and adds the attribute data. Road network data 24 describing the lane network is generated (S7).

  According to the present embodiment, since intra-intersection lane data that describes a travelable lane in an intersection is automatically generated, road network data including intra-intersection lane data can be generated with a simpler effort. With this road network data, navigation in lane units is possible, and automatic or semi-automatic control in lane units of vehicle travel can be realized within the 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 16 is shown. 4 is a flowchart of an in-intersection lane generation operation by the in-intersection lane generation device 20. 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

10: Lane data 12: Attribute data 14: Intersection clipping device 14a: Connection point data 14b: Outside intersection lane data 16: Intersection database (intersection DB) generation device 18: Hard disk 20: Inter-lane lane generation device 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

Claims (21)

An intersection cutout device (14) 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 (16) that generates 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,
An in-intersection lane generating device (20) for generating in-intersection lane data indicating an in-intersection lane for each combination of advancing entry and exit points according to the intersection database;
A synthesizing device (22) for generating road network data by synthesizing the non-intersection lane data from the intersection clipping device and the intra-intersection lane data from the intra-intersection lane 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 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 road network data generation device according to claim 1 or 2, further comprising: For the combination of the entry point and the exit point in the intersection database,
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 road network data generation device according to claim 1 or 2, further comprising: 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)
5. The road network data generation device according to claim 1, comprising: An intersection cutout step (14) 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 (16) for 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. )When,
Intra-intersection lane generation step (20) for generating intra-intersection lane data indicating the intra-intersection lane for each combination of advancing entry and exit points according to the intersection database,
A synthesizing step (22) of generating road network data by synthesizing the non-intersection lane data from the intersection clipping device and the intra-intersection lane data from the intra-intersection lane generation device.
A road network data generation method comprising:   7. The road network data generation method according to claim 6, wherein the intersection database includes traveling direction data indicating a traveling direction for each lane in 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 road network data generation method according to claim 6 or 7, further comprising: In the intersection lane generation step, for the combination of the entry and exit points of the intersection database,
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 road network data generation method according to claim 6 or 7, further comprising: 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 any one of claims 6 to 9, further comprising: An intersection cutout function (14) for causing the computer to cut 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 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 (16);
An intra-intersection lane generation function (20) for causing the computer to generate intra-intersection lane data indicating an intra-intersection lane for each combination of advancing entry and exit points according to the intersection database;
A composition function (22) for causing the computer to synthesize road lane data by synthesizing lane data outside the intersection by the intersection cut-out function and the lane data in the intersection by the lane generation function in the intersection.
A road network data generation program.   12. The road network data generation program according to claim 11, wherein the intersection database includes traveling direction data indicating a traveling direction for each lane in the intersection. The intersection lane generation function
When the combination of the entry point and the exit point in the intersection database is a straight line, the computer is connected to each other by a predetermined distance between the entry point and the exit point by two arcs. A first intersection in-lane generation function (S34) as an in-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 lane within the intersection. 2 intersection lane generation function (S33)
The road network data generation program according to claim 11 or 12, further comprising: For the combination of the entry point and the exit point in the intersection database,
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 determination function for determining 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 road network data generation program according to claim 11 or 12, further comprising: The intersection database generation function
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 any one of claims 11 to 14, further comprising: An in-intersection lane generation device that generates in-intersection lane data indicating an in-intersection lane for each combination of advance and exit points that can proceed according to an intersection database having one or more combinations of entry and exit points that can proceed at an intersection Because
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)
An in-intersection lane generation device characterized by comprising: An in-intersection lane generation device that generates in-intersection lane data indicating an in-intersection lane for each combination of advance and exit points that can proceed according to an intersection database having one or more combinations of entry and exit points that can proceed at an intersection Because
For each combination of the entry point and the exit point in the intersection database, an extension line to the intersection outside the intersection lane connected to the entry point, and within the intersection of the intersection lane outside the intersection connected to the exit point A determination means for determining whether the extension line to has an intersection within the intersection;
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
An in-intersection lane generation device characterized by comprising: An intra-intersection lane generation method for generating intra-intersection lane data indicating an intra-intersection lane for each combination of an advance point and an exit point that can proceed according to an intersection database having one or more combinations of an approach point and an exit point that can proceed at the intersection Because
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)
An in-intersection lane generation method characterized by comprising: An intra-intersection lane generation method for generating intra-intersection lane data indicating an intra-intersection lane for each combination of an advance point and an exit point that can proceed according to an intersection database having one or more combinations of an approach point and an exit point that can proceed at the intersection Because
For each combination of the entry point and the exit point in the intersection database, an extension line to the intersection outside the intersection lane connected to the entry point, and within the intersection of the intersection lane outside the intersection connected to the exit point A determination step of determining whether an extension line to has an intersection within the intersection;
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)
An in-intersection lane generation method characterized by comprising: A computer program for generating lane data in an intersection indicating an lane in the intersection for each combination of an approach point and an exit point that can proceed according to an intersection database having one or more combinations of an approach point and an exit point that can proceed at the intersection. ,
When the combination of the entry point and the exit point in the intersection database is a straight line, the computer connects the points where the entry point and the exit point are moved backward by a predetermined distance with two arcs, and the intersection lane A first intersection lane generation function (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, the computer connects the entry point and the exit point with a single arc to form a second lane within the intersection. Intersection lane generation means (S33)
An in-intersection lane generation program characterized by comprising: A computer program for generating lane data in an intersection indicating an lane in the intersection for each combination of an approach point and an exit point that can proceed according to an intersection database having one or more combinations of an approach point and an exit point that can proceed at the intersection. ,
For each combination of the entry point and the exit point in the intersection database, the computer adds an extension line to the intersection outside the intersection lane connected to the entry point, and the intersection outside lane connected to the exit point. A determination function for determining whether an extension line into the intersection has an intersection in the intersection;
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)
An in-intersection lane generation program characterized by comprising:

Images