JP2010117273A - Data structure of road network data, road network data preparation device, road network data preparation program, and route guidance device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a data structure of road network data free from impairing compatibility with conventional route guidance devices based on a principle inhibiting transfer across links, and to provide a preparation device for such road network data, a program for preparing such road network data, and a route guidance device efficiently utilizing such road network data. <P>SOLUTION: Within a lane change admissible section 20u, the section is expressed by one lane change admissible section link 211 regardless of presence/absence of a plurality of lanes, and a plurality of links 111, 121, 131 per lane of the lane change prohibition section 10u are integrated into one at a beginning node 210 and branched into a plurality of links 311, 321, 331 per lane at a termination node 220. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a data structure of road network data, a road network data generation device, a road network data generation program, and a route guidance device, and in particular, is adapted to route guidance along lane divisions and is convenient for use. The present invention relates to a data structure of road network data, a road network data generation device, a road network data generation program, and a route guidance device.

In conventional road network data, road network data is configured in a format that expresses a road by a node that represents the center of each intersection and a link that connects the nodes and represents the center line of the road.
In particular, in recent years, a technique for automatically generating digital road map data from graphic data having a layer structure has been proposed (see, for example, Patent Document 1).
In this proposal, based on vectorized digital map data, the figure of the layer that constitutes the outside of the road, such as the boundary line of a block, a gutter, and a curb, is converted into a binary image, and the binary image is converted into one lane of the road. A technique is disclosed in which a road is drawn as one image line by adjusting according to the width of a minute.
JP 2007-73009 A (Summary, paragraphs 0006 to 0011, etc.)

On the other hand, in a route guidance device such as a car navigation device, a detailed road network for each lane is used in order to provide route guidance that accurately reflects the traffic situation of each lane at the present time, such as prompting a lane change at an appropriate timing. It is desirable that data is prepared.
On the other hand, in the conventional car navigation apparatus, route guidance along a corresponding link is performed based on road network data represented by a link connecting nodes corresponding to each intersection.

This route guidance follows the principle that transfer from one link to another link (transfer between links) is not allowed.
For this reason, if detailed road network data that represents each lane as a link is created, the following inconvenience occurs.
In other words, in sections where lane changes are allowed on real roads, the new principle is based on items that were previously prohibited, such as relocation across links representing multiple lanes. There is a need.
Alternatively, it is necessary to introduce a provision that exceptionally allows a transfer across links while following the conventional principle.

If the conventional principle is not partially modified as described above, the principle that the transfer between links in the conventional car navigation apparatus is not allowed and the actual situation that the lane change is allowed will be jeopardized.
For this reason, simply introducing detailed road network data representing a plurality of lanes set on a single road as separate links causes a problem of lack of compatibility with existing car navigation devices. Become.
In the above-mentioned Patent Document 1, there is no reference to the above technical problem when road network data representing a plurality of lanes as separate links is introduced, and a method for solving such a technical problem is not disclosed. .

  In view of the above-described situation, the present invention provides a data structure of road network data that does not impair the compatibility with a conventional route guidance device based on the principle of not allowing relocation across links, such a road network. An object of the present invention is to provide a data generation device, a program for generating such road network data, and a route guidance device that effectively uses such road network data.

In order to solve the above-described problems, the present application proposes the following techniques.
(1) Each start node data representing a start node set at the start of each lane change allowable section;
Each terminal node data representing a terminal node set at the terminal of each one lane change allowable section,
Lane change allowable section link data representing a lane change allowable section link connecting the start node and the end node corresponding to a lane in the lane change allowable section with a single line on the road network expression, regardless of the number of lanes,
Lane node data representing each lane node set corresponding to each node on the road network representation for each lane of the lane change prohibition section,
One corresponding lane node among the lane nodes and another lane node, the corresponding start end node, and the corresponding end node are connected to one node for each lane. Lane-corresponding link data representing each lane-corresponding link
The start node data is obtained by connecting one end of a plurality of lane-corresponding links in the lane change prohibition section to the start node and connecting a single lane change allowable section link to the start node. With connection state attribute data defining the connection state for integrating the corresponding link into the single lane change permissible section link,
Each terminal node data is obtained by connecting a single lane change allowable section link in the lane change allowable stop section to the terminal node and connecting a plurality of lane-corresponding links to the terminal node. A data structure of road network data, which is accompanied by connection state attribute data defining a connection state for branching an allowable section link into the plurality of lane-corresponding links.

According to the data structure of the road network data in (1) above, within a lane change allowable section, one road is a single road in the road network representation between the start node and the end node regardless of the number of lanes. Expressed as a lane change permissible section link connected by a line.
For this reason, within this lane change allowable section, even if the lane is changed and moved, it is a lane change within a road represented by a single link that does not depend on which lane it corresponds to Therefore, an event corresponding to the prohibition such as allowing movement across the links does not occur essentially.
On the other hand, in the lane change prohibition section, a link corresponds to each corresponding lane, and therefore it is possible to perform accurate route guidance according to the situation of each lane.

(2) Each start node data, each end node data, and each lane node data includes a node identification ID for identifying the node and attribute data attached to the node identification ID. (1) The data structure of the road network data characterized by having a common data format.
In the data structure of the road network data in (2) above, the start node data, the end node data, and the lane node data are common in the data structure of the road network data in (1). The data format is
For this reason, in the route guidance device to which the road network data having the above-described data structure is applied, each node can be handled without requiring a separate division in principle. Therefore, the conventional route guidance device and the road network by the data structure are used. The data maintains the affinity between the two.

(3) The common data format is that each start-end node data, each end-node data, and each start-end node represented by each lane node data, and each end-point by a corresponding route guidance device. The data structure of road network data according to (2), wherein each node and each lane node are in a data format that is recognized as one node.

In the data structure of the road network data of (3) above, particularly in the data structure of the road network data of (2), the common data format is that each start node data and The start node data, the start nodes represented by the lane node data, the end nodes, and the lane nodes are all recognized as one node.
For this reason, the route guidance device performs route guidance processing that is the same as the conventional principle in that it reaches from one node to another node via one link regardless of the type of node as described above. Is possible.

(4) Link data representing each link that is a line on the road network expression corresponding to each partial section of the lane, and each node that is a node on the road network expression to which both ends of each link are connected. A road that holds road network data including node data that represents and lane change enable / disable identification data for identifying whether the link corresponds to a lane change prohibition section or a lane change permission section for each link A network data holding unit;
Based on the lane change permission / prohibition identification data in the road network data held in the road network data holding unit, the node data corresponding to the lane change prohibited section and the link data are converted from the road network data to the lane change prohibited section road. Lane change prohibition section road network data extraction processing unit to extract as network data,
Based on the lane change permission identification data in the road network data held in the road network data holding unit, the node data corresponding to the lane change allowable section and the link data are converted from the road network data to the lane change allowable section road. Lane change allowable section road network data extraction processing unit to extract as network data,
Based on the lane change prohibition section road network data and the lane change allowance section road network data, with respect to a boundary for transition from the lane change prohibition section to the lane change permission section, one end of each link corresponding to each lane is defined as the boundary. With respect to the boundary that is integrated into the link after the start end node by connecting to the start end node set corresponding to the start end of the lane change allowable section in The link of the change allowable section is connected to the terminal node set corresponding to the end of the lane change allowable section at the boundary so as to branch to each link corresponding to each lane in the lane change prohibition section after the terminal node. An integration / branch processing unit to form link integration and branching at each applicable boundary node
A road network data generation device characterized in that the road network data generation device is configured.

According to the road network data generation device of (4) above, in the integration / branch processing unit, one end of each link corresponding to each lane is connected to the boundary with respect to the boundary from the lane change prohibited section to the lane change permitted section. By connecting to the start end node set corresponding to the start end of the lane change permissible section, the links after the start end node are integrated.
In addition, regarding a boundary that transitions from the lane change allowable section to the lane change prohibited section, the link of the lane change allowable section is connected to a terminal node that is set corresponding to the end of the lane change allowable section at the boundary. A link corresponding to each lane is set so as to branch to each link corresponding to each lane in the lane change prohibition section after the end node.

According to the data structure of the road network data formed as a result of link integration and branching being formed at each corresponding boundary node as described above, in the lane change allowable section, the start node and It is represented by a lane change allowable section link connecting the end nodes with a single line on the road network representation.
For this reason, within this lane change allowable section, even if the lane is changed and moved, it is a lane change within a road represented by a single link that does not depend on which lane it corresponds to Therefore, an event corresponding to the prohibition such as allowing movement across the links does not occur essentially.
On the other hand, in the lane change prohibition section, accurate route guidance can be performed according to each corresponding lane.

(5) Link data representing each link that is a line on the road network expression corresponding to each partial section of the lane, and each node that is a node on the road network expression to which both ends of each link are connected. Road network data including node data to be represented and lane change permission / inhibition identification data for identifying whether the link corresponds to a lane change prohibition section or a lane change permission section for each link. A road network data generation program for a computer,
A lane change prohibition section road that extracts the node data and the link data corresponding to the lane change prohibition section as lane change prohibition section road network data from the road network data based on the lane change permission identification data in the road network data Network data extraction processing;
Lane change allowable section road that extracts the node data and the link data corresponding to the lane change allowable section from the road network data as lane change allowable section road network data based on the lane change permission identification data in the road network data Network data extraction processing;
Based on the lane change prohibition section road network data and the lane change allowance section road network data, with respect to a boundary for transition from the lane change prohibition section to the lane change permission section, one end of each link corresponding to each lane is defined as the boundary. With respect to the boundary that is integrated into the link after the start end node by connecting to the start end node set corresponding to the start end of the lane change allowable section in The link of the change allowable section is connected to the terminal node set corresponding to the end of the lane change allowable section at the boundary so as to branch to each link corresponding to each lane in the lane change prohibition section after the terminal node. Integration / branch processing that allows link integration and branching to be formed at each relevant boundary node,
A program for generating road network data to execute.

  When the computer executes processing based on the road network data generation program of (5) above, it corresponds to each lane with respect to the boundary that transitions from the lane change prohibited section to the lane change permitted section by integration / branch processing. By connecting one end of each link to the start end node set corresponding to the start end of the lane change allowable section at the boundary, the links after the start end node are integrated.

In addition, regarding a boundary that transitions from the lane change allowable section to the lane change prohibited section, the link of the lane change allowable section is connected to a terminal node that is set corresponding to the end of the lane change allowable section at the boundary. A link corresponding to each lane is set so as to branch to each link corresponding to each lane in the lane change prohibition section after the end node.
According to the data structure of the road network data formed as a result of link integration and branching at each corresponding boundary node as described above, within the lane change allowable section, the start node and It is represented by a lane change allowable section link connecting the end nodes with a single line on the road network representation.

For this reason, within this lane change allowable section, even if the lane is changed and moved, it is a lane change within a road represented by a single link that does not depend on which lane it corresponds to Therefore, an event corresponding to the prohibition such as allowing movement across the links does not occur essentially.
On the other hand, in the lane change prohibition section, a lane link suitable for each corresponding lane is set, and accurate route guidance can be performed for each lane.

(6) An operation unit that accepts a user operation, a current location detection processing unit that detects the current location of the device itself, an information holding unit that holds road network data, a user operation accepted by the operation unit, and the current location detection process A route guidance device configured to include a current location detected by the unit and a route guidance processing unit that generates route guidance data based on road network data held in the information holding unit,
Each of the information holding units represents each start node data representing a start node set at the start of each lane change permissible section, and each end node set respectively at the end of each one lane change permissible section Lane change allowance that represents the lane change allowance section link that connects the end node data and the lanes within the lane change allowance section with a single line on the road network representation between the corresponding start node and end node regardless of the number of lanes. Section link data, lane node data representing each lane node set corresponding to each node on the road network representation for each lane of the lane change prohibition section, and each corresponding pair of lane nodes among the lane nodes Lane-corresponding link data each representing a lane-corresponding link that is set for each lane, and each start node data is prohibited from changing lanes. A plurality of lane-corresponding links are drawn toward itself and a single lane change allowable section link is drawn from itself, and the terminal node data includes the lane change allowance. Holds road network data accompanied by a connection state attribute representing a state in which a single lane change allowable section link in the section is drawn toward itself and a plurality of lane-corresponding links are pulled out from the section,
The route guidance processing unit refers to the road network data held in the information holding unit according to the user operation received by the operation unit and the current location of the own device detected by the current location detection processing unit, A route guidance device configured to perform route guidance in which a lane is prohibited with respect to a lane change prohibition section.

  In the route guidance device according to (6), since the route guidance processing unit performs route guidance based on the road network data as described above held in the information holding unit, each start node data, and Each start node, each end node, and each lane node are treated as the same node by each end node data and each lane node data, so that a plurality of lanes are recognized in a divided manner. Therefore, accurate route guidance for each lane is performed without requiring special means.

  ADVANTAGE OF THE INVENTION According to this invention, the data structure of the road network data which does not impair the affinity with the conventional route guidance apparatus based on the principle which does not allow the transfer which crosses between links, Such a road network data generation apparatus A program for generating such road network data and a route guidance device that effectively uses such road network data are realized.

Hereinafter, the present invention will be clarified by describing embodiments of the present invention in detail with reference to the drawings.
(Expression of lanes and roads by road network data)
FIG. 1 is a conceptual diagram for explaining how a lane is represented by the data structure of road network data as one embodiment of the present invention.
FIG. 2 is a diagram showing each part of the road represented by the road network data of FIG.
As shown in FIG. 2, the road assumed here is a road having three lanes on each side separated by a central separator M and having a total of six lanes in the reciprocating direction.

In FIG. 2, a lane change prohibition section 10u → lane change permission section 20u → lane change prohibition section from the left hand side to the right hand side direction assumed as one traveling direction of a moving body such as a vehicle in accordance with the laws and regulations of the country concerned 30u is set.
Further, a lane change prohibition section 30d → lane change permission section 20d → lane change prohibition section 10d is set from the right hand side to the left hand side direction assumed as the other traveling direction of the moving body such as a vehicle.

In FIG. 2, the lane classification is seen along the flow of the lane change prohibition section 10u → the lane change permission section 20u → the lane change prohibition section 30u, which is assumed as one traveling direction of a moving body such as a vehicle.
In the left lane change prohibition section 10u, a first lane 11 closest to the road side, a second lane 12 in the middle adjacent to the first lane 11, and a third lane 13 closest to the center separation zone M are set. Has been.
In the lane change prohibition section 10u, lane change between these lanes 11, 12, and 13 (that is, relocation across lanes) is prohibited.

Similarly, in the lane change prohibition section 30u on the right side in the figure, the first lane 31 closest to the roadside, the second intermediate lane 32 adjacent to the first lane 31, and the third lane closest to the center separation zone M are included. Each lane 33 is set.
In the lane change prohibition section 30u, lane change between these lanes 31, 32, and 33 (that is, relocation across lanes) is prohibited.
In the lane change allowable section 20u sandwiched between these two lane change prohibition sections 10u and 30u, the first lane 21 closest to the roadside, the second lane 22 in the middle adjacent to the first lane 21, and the centermost Each of the third lanes 33 close to the separation zone M is set, and lane changes are allowed for these lanes 21, 22, and 23 in accordance with the regulations.

In FIG. 2, the lane classification is seen along the flow of the lane change prohibition section 30d → the lane change permission section 20d → the lane change prohibition section 10d, which is assumed as the other traveling direction of the moving body such as a vehicle.
When viewed along the other directions described above, as is easily understood from the figure, it looks the same as when viewed along one of the above-described directions, as seen in each forward direction of the flow. .
That is, the lanes 34, 35, and 36 are set in the lane change prohibited section 30d as shown in the figure, and the lanes 14, 15, and 16 are similarly set in the lane change prohibited section 10d.

For each of these lanes 34, 35, and 36, and 14, 15, and 16, lane change (that is, relocation across lanes) is prohibited.
Further, in the lane change allowance section 20d sandwiched between both lane change prohibition sections 30d and 10d, lanes 24, 25, and 26 are set as shown in the figure, and for each of these lanes 24, 25, and 26, Lane changes are permitted in accordance with legislation.

In FIG. 1, for convenience of explanation, lanes are expressed along the flow of a lane change prohibited section 10u → lane change permitted section 20u → lane change prohibited section 30u, which is assumed as one traveling direction of a moving body such as a vehicle. Yes.
When attention is paid to the lane change allowable section 20u in FIG. 1, the start node 210 is set at the start of the lane change allowable section 20u, and the end node 220 is set at the end.
As will be described later, the start node 210 is represented by start node data, and the end node 220 is represented by end node data.

The start node 210 and the end node 220 are connected by a single lane change allowable section link 211 that is a single line on the road network representation.
This lane change allowable section link 211 is represented by lane change allowable section link data described later.
The data structure of the road network data in this embodiment is such that, within the lane change allowable section (20u), a lane is connected between one corresponding start node (210) and end node (220) regardless of the number of lanes. One feature is a point represented by a single link (211).
On the other hand, in the road (each lane) in FIG. 2, the left end side of the illustrated range includes, for example, intersections, and such points are positioned as nodal points on the road network representation, and nodes are set at these nodal points. Is done.

That is, as easily understood in comparison with the lane change prohibition section 10u of FIGS. 1 and 2, a lane node 110 corresponding to the lane 11 is set at the above-described nodal point, and the lane 12 corresponds to the lane 12. A lane node 120 is set, and a lane node 130 is set corresponding to the lane 13.
Similarly, a lane node 310 is set corresponding to the lane 31 and a lane node 320 is set corresponding to the lane 32, as can be easily understood by comparing the lane change prohibition section 30u shown in FIGS. A lane node 330 is set corresponding to the lane 33.

Each lane node 110, 120, 130, 310, 320, and 330 described above is represented by each corresponding lane node data 110d, 120d, 130d, 310d, 320d, and 330d, as will be described later.
In the lane change prohibition section 10u of FIG. 1, one lane-corresponding link 111 is set between the lane node 110 and the start node 210 so as to correspond to the lane 11 of FIG.
Similarly, one lane-corresponding link 121 is set between the lane node 120 and the start node 210 so as to correspond to the lane 12.
Further, one lane-corresponding link 131 is set between the lane node 130 and the start node 210 so as to correspond to the lane 13.

Furthermore, in the lane change prohibition section 30u in FIG. 1 as well, one lane-corresponding link 311 is set between the lane node 310 and the terminal node 220 so as to correspond to the lane 31 in FIG. .
Further, one lane-corresponding link 321 is set between the lane node 320 and the terminal node 220 so as to correspond to the lane 32.
Furthermore, one lane corresponding link 331 is set between the lane node 330 and the terminal node 220 so as to correspond to the lane 33.
As described above, the lane-corresponding link connects one lane node to the start node or the end node of the lane change allowable section, and also connects one lane node to another lane node.

The lane-corresponding link as described above is represented by lane-corresponding link data described later.
At the boundary between the lane change prohibited section 10u and the lane change permitted section 20u in FIG. 1, the lane corresponding links 111, 121, and 131 corresponding to the different lanes 11, 12, and 13 in the lane change prohibited section 10u. Are connected to a single start node 210 and integrated into one lane change allowable section link 211 in the subsequent lane change allowable section 20u.

  The start node data representing the start node 210 that integrates a plurality of lane-corresponding links as described above into a single lane change allowable section link connects each end of the plurality of lane-corresponding links in the lane change prohibition section to the start node. And connection state attribute data for defining a connection state for integrating the plurality of lane-corresponding links into the single lane change allowable section link by connecting a single lane change allowable section link to the start node. I'm.

In addition, at the boundary between the lane change allowable section 20u and the lane change prohibited section 30u in FIG. 1, the single lane change allowable section link 211 in the lane change allowable section 20u is connected to a single terminal node 220 on the terminal side. In the subsequent lane change prohibition section 30u, a plurality of lane-corresponding links 311, 321 and 331 branch off.
The terminal node data representing the terminal node 220 for branching a single lane change allowable section link as described above into a plurality of lane-corresponding links is a single lane change allowable section link in the lane change allowable stop section. With connection state attribute data defining a connection state for branching the single lane change allowable section link to the plurality of lane correspondence links by connecting and connecting a plurality of lane correspondence links to the terminal node .
The connection state attribute data in the above will be described later.

(Data structure of road network data)
FIG. 3 is a conceptual diagram showing the data structure of road network data as one embodiment of the present invention.
In the data structure of the road network data 100, each start node data representing a start node set at the start of each lane change allowable section described with reference to FIG. 1 is provided.
In FIG. 3, for the convenience of explanation, among the start node data, start node data 210 d corresponding to the start node 210 of FIG. 1 is represented.
Similarly, each terminal node data representing a terminal node set at the terminal of each one lane change allowable section is provided. In FIG. 3, start node data 220d corresponding to the terminal node 220 in FIG. 1 is represented. Yes.

  Further, lane node data representing lane nodes respectively set corresponding to each node on the road network representation is provided for each lane of the lane change prohibited section. In FIG. 3, each lane node 110, 120 in FIG. , 130, 310, 320, and 330, corresponding lane node data 110d, 120d, 130d, 310d, 320d, and 330d are represented.

In addition, lane change permissible section link data representing a lane change permissible section link that connects the corresponding start and end nodes with a single line on the road network representation is provided regardless of the number of lanes in the lane change permissible section. It is done.
Lane change allowable section link data 211d corresponding to the lane change allowable section link 211 is shown.
Further, each corresponding one of the lane nodes is connected to any one of the other lane nodes, the corresponding start node, and the corresponding end node, one for each lane. Lane-corresponding link data representing each lane-corresponding link to be set is provided.

3, lane-corresponding link data 111d, 121d, 131d, 311d, 321d, and 331d representing the lane-corresponding links 111, 121, 131, 311, 321, and 331 of FIG. 1 are shown.
In the present embodiment, the start node data 210d, the end node data 220d, and the lane node data 110d, 120d, 130d, 310d, 320d, and 330d in FIG. 3 are common data as illustrated in FIG. Has a style.

(Data format of node data)
FIG. 4 is a diagram illustrating a data format of node data in the data structure of the road network data in FIG.
As shown in FIG. 4, the data format of the node data includes a node identification ID 401 for specifying the node itself and attribute data 402 incidental to the node identification ID 401.
The node identification ID 401 includes data representing the longitude, latitude, and altitude of the point represented by the node, which is so-called “x, y, z” information.

Further, the attribute data 402 includes data such as a mesh ID representing a corresponding area, a node type, the number of connected links, identification numbers of connected nodes corresponding to the number of links, names of corresponding intersections, and the like.
As described above, each start node data is obtained by connecting each end of a plurality of lane-corresponding links in the lane change prohibited section to the start node and connecting a single lane change allowable section link to the start node. It is accompanied by connection state attribute data defining a connection state for integrating the plurality of lane-corresponding links into the single lane change allowable section link.

This connection state attribute data associated with each start node data defines the link integration mode with the node type, the number of connection links, the identification number of connection nodes corresponding to the number of links, etc. in the attribute data 402 as elements. .
Similarly, each terminal node data is obtained by connecting a single lane change allowable section link in the lane change allowable stop section to the terminal node and connecting a plurality of lane-corresponding links to the terminal node. It is accompanied by connection state attribute data for defining a connection state for branching the change-permitted section link into the plurality of lane-corresponding links.

This connection state attribute data accompanying each terminal node data defines the branching mode of the link with the node type, the number of connection links, the identification number of connection nodes for the number of links, etc. in the attribute data 402 as its elements. .
On the other hand, in the present embodiment, the lane change allowable section link data 210d, the terminal node data 220d, the lane-corresponding link data 111d, 121d, 131d, 311d, 321d, and 331d in FIG. 3 are exemplified in FIG. Have a common data format.

(Link data format)
FIG. 5 is a diagram illustrating a data format of link data in the data structure of the road network data in FIG.
As shown in FIG. 5, the data format of the link data has a form including a link identification ID 501 for specifying the link itself and attribute data 502 incidental to the link identification ID 501.
The link identification ID 501 includes end point node number data representing nodes at both ends of the link.
The attribute data 502 includes data representing road type, road manager information, link length, number of lanes, traffic regulation information, and the like.

(Effects obtained by data structure)
As described above, according to the road network data based on the data structure as the embodiment of the present invention as described with reference to FIGS. 1 to 5, within the lane change allowable section, one road in the traveling direction is not included. There is no difference from the expression by the conventional road network data corresponding to one link.
Even when a vehicle or the like actually travels, the lane is changed and the lane is changed on the road represented by a single link that does not depend on the classification of which lane. An event corresponding to a conventional prohibition such as allowing movement across the space does not occur essentially.

On the other hand, in the lane change prohibition section, the road network is represented by nodes and links for each corresponding lane, and handling corresponding to the case where there is a road in the conventional expression for each lane becomes possible, Accurate route guidance divided for each lane can be performed.
That is, according to the data structure of the road network data of the above-described embodiment, there is no possibility that the compatibility with the conventional route guidance device based on the principle that does not allow the transfer across the links is impaired.

Next, a road network data generation apparatus for generating road network data having a data structure as an embodiment of the present invention as described with reference to FIGS. 1 to 5 will be described.
(Configuration example of road network data generation device)
FIG. 6 is a functional block diagram showing the configuration of the road network data generation apparatus as an embodiment of the present invention.
6 includes a road network data holding unit 601, a lane change prohibited section road network data extraction processing unit 602, a lane change allowable section road network data extraction processing unit 603, and an integration / branch processing unit. 604.

The generation of road network data by the road network data generation device 610 can proceed so that the corresponding road gradually advances along a certain direction.
The road network data holding unit 601 includes link data representing each link, which is a line on the road network expression corresponding to each partial section of the lane, and a node on the road network expression to which both ends of each link are connected. Road network data including node data representing each node and lane change permission / identification data for identifying whether the link corresponds to a lane change prohibition section or a lane change permission section for each link. Hold.

The above-described road network data held in the road network data holding unit 601 is used to generate road network data having the data structure according to the embodiment of the present invention described with reference to FIGS. This is data as a so-called resource database.
Further, the lane change prohibition section road network data extraction processing unit 602 corresponds to the lane change prohibition section from the road network data based on the lane change permission identification data in the road network data held in the road network data holding unit 601. Node data and link data to be extracted are extracted as lane change prohibited section road network data.

Further, the lane change permissible section road network data extraction processing unit 603 corresponds to the lane change permissible section from the road network data based on the above-described lane change permission identification data in the road network data held in the road network data holding unit 601. Node data and link data to be extracted are extracted as lane change allowable section road network data.
The integration / branch processing unit 604 extracts the lane change prohibited section road network data extracted by the lane change prohibited section road network data extraction processing unit 602 and the lane change permitted section road network extracted by the lane change permitted section road network data extraction processing unit 603. Based on the data, a process corresponding to link integration is executed.

  That is, with respect to the boundary from the lane change prohibition section to the lane change permission section, one end of each link corresponding to each lane (links 111, 121, 131 in FIG. 1) corresponds to the start end of the lane change permission section at the boundary. By connecting to the start node set in step (node 210 in FIG. 1), the links after the start node (link 211 in FIG. 1) are integrated.

  Further, the integration / branch processing unit 604 extracts the lane change prohibited section road network data extracted by the lane change prohibited section road network data extraction processing unit 602 and the lane change permitted section extracted by the lane change permitted section road network data extraction processing unit 603. Based on the road network data, with respect to the boundary that transitions from the lane change permitted section to the lane change prohibited section, the link of the lane change permitted section (link 211 in FIG. 1) is set corresponding to the end of the lane change permitted section at the boundary. 1 is connected to the terminal node (node 220 in FIG. 1) and branched to each link (links 311, 321 and 331 in FIG. 1) corresponding to each lane in the lane change prohibition section after the terminal node.

The integration / branch processing unit 604 executes data processing so that link integration and branching are formed at each corresponding boundary node as described above.
According to the data structure of road network data formed as a result of link integration and branch road network data being formed at each corresponding boundary node as described above, within the lane change allowable section, It is represented by a lane change allowable section link that connects the start node and the end node with a single line on the road network representation.

Therefore, according to the road network data having the data structure generated by the road network data generation apparatus 610 according to the embodiment of the present invention, one link is provided on one road in the traveling direction within the lane change allowable section. There is no difference from the expression by the corresponding conventional road network data.
Even when a vehicle or the like actually travels, the lane is changed and the lane is changed on the road represented by a single link that does not depend on the classification of which lane. An event corresponding to a conventional prohibition such as allowing movement across the space does not occur essentially.

On the other hand, in the lane change prohibition section, the road network is represented by nodes and links for each corresponding lane, and handling corresponding to the case where there is a road in the conventional expression for each lane becomes possible, Accurate route guidance divided for each lane can be performed.
That is, according to the data structure of the road network data of the above-described embodiment, there is no possibility that the compatibility with the conventional route guidance device based on the principle that does not allow the transfer across the links is impaired.
For this reason, within this lane change allowable section, even if the lane is changed and moved, it is a lane change within a road represented by a single link that does not depend on which lane it corresponds to Therefore, an event corresponding to the prohibition such as allowing movement across the links does not occur essentially.

On the other hand, in the lane change prohibition section, accurate route guidance can be performed according to each corresponding lane.
The road network data generated by the road network data generation device 610 according to the embodiment of the present invention as described above is stored in the road network data storage unit 620 set in an appropriate storage device.
The road network data stored in the road network data storage unit 620 in this way can be copied and distributed to a plurality of information recording media as needed, or can be appropriately processed and processed on a Web server. Can be used by being distributed to a customer through the network.

(Road network data generation program)
Next, a road network data generation program as an embodiment of the present invention will be described with reference to a flowchart.
FIG. 7, FIG. 8, FIG. 9, and FIG. 10 are flowcharts showing the processing operation of the computer by the road network data generation program as an embodiment of the present invention.

(Outline of processing operation)
FIG. 7 is a flowchart showing an outline of the processing operation of the computer by the road network data generation program as an embodiment of the present invention.
First, the road network database is accessed to read road network data (step S701).
Here, the road network database is a so-called resource database used for generating road network data having a data structure as an embodiment of the present invention described with reference to FIGS. 1 to 5. This is data with lane change permission / identification data regarding the road network.

The lane change enable / disable identification data is read from the data read in step S701 (step S702).
About the interpretation result in step S702, it is identified whether the lane change permission identification data represents a lane change allowable section or a lane change prohibition section (step S703).
As a result of the identification in step S703, when it is determined that the lane change permission / inhibition identification data represents a lane change allowable section, the corresponding lane change allowable section road network data is held in the first storage unit (step S704). .

On the other hand, when it is determined as a result of the identification in step S703 that the lane change permission / identification identification data represents a lane change prohibition section, the corresponding lane change prohibition section road network data is stored in the second storage unit (step S703). S705).
Next, integration / branch processing is performed on the lane change prohibited section road network data held in the first storage unit in step S704 and the lane change prohibited section road network data held in the second storage unit in step S705. Is executed (step S706).

  In the integration / branching process in step S706, a plurality of links divided for each lane in the lane change prohibited section are integrated into one link having no lane division in the lane change allowable section, and the lane change in the lane change allowable section is integrated. This is a process of branching one undivided link into a plurality of links for each lane in the lane change prohibition section, and the details thereof will be described later with reference to the flowcharts of FIGS.

Next, the road network data created by the integration / branching process in step S706 is stored in a predetermined storage unit (step S707), and it is determined whether the road network data is completed for the planned range (step S708).
When it is determined in step S708 that the road network data has been completed for the planned range (step S708: Yes), the process is ended. On the other hand, when it is determined that the road network data in the planned range has not yet been completed. (Step S708: No), the process returns to Step S701.

(Integration / branch processing)
FIG. 8 is a flowchart showing details of the integration / branching process in the flowchart of FIG.
The creation of road network data generally progresses as a moving body such as a vehicle on the road or lane moves in a regular manner. In the progress of such road network data creation, the above-described lane change enable / disable identification data is detected (step S801).
Next, based on the lane change permission / inhibition identification data detected in step S801, it is determined whether or not the vehicle is approaching a point where the lane change prohibition section shifts to the lane change permission section (step S802).

In step S802, when it is determined that the vehicle is approaching a point where the lane change prohibition section shifts to the lane change permission section (step S802: Yes), the integration process is executed (step S803), and then the process ends.
Details of the integration processing in step S803 will be described later with reference to the flowchart of FIG.
On the other hand, when it is determined in step S802 that the vehicle has not reached the point where the lane change prohibition section shifts to the lane change permission section (step S802: No), the lane change permission section shifts to the lane change prohibition section. It is determined whether or not the point has been reached (step S804).

If it is determined in step S804 that the vehicle is about to reach a lane change prohibition section from a lane change permission section (step S804: Yes), a branch process is executed (step S805), and then the process ends.
Details of the branch process in step S805 will be described later with reference to the flowchart of FIG.
When it is determined in step S804 that the vehicle has not reached the point where the lane change allowable section is shifted to the lane change prohibited section (step S804: No), the process returns to step S802.

FIG. 9 is a flowchart showing details of the integration process in the flowchart of FIG.
In the integration process, the data of the lane change allowable section stored in the second storage unit in step S705 in the flowchart of FIG. 7 is read (step S901).
Next, with respect to the boundary that transitions from the lane change prohibited section to the lane change permitted section, a single end that is set corresponding to the start of the lane change permitted section at the boundary is set to one end of each link corresponding to each lane in the lane change prohibited section. By connecting each to the start node, it is integrated into one link in the lane change allowable section after the start node (step S902).

FIG. 10 is a flowchart showing details of the branching process in the flowchart of FIG.
In the branch process, the data of the lane change prohibition section stored in the first storage unit in step S704 of the flowchart of FIG. 7 is read (step S1001).
Next, with respect to the boundary that transitions from the lane change allowable section to the lane change prohibited section, one link of the lane change allowable section is connected to the terminal node set corresponding to the end of the lane change allowable section at the boundary, Processing is performed so as to branch to a plurality of links corresponding to each lane in the lane change prohibition section after the terminal node (step S1002).

  According to the road network data generation program as an embodiment of the present invention to be executed by the computer having the above-described processing, the computer executes the processing based on the road network data generation program, thereby integrating and branching. In the process, with respect to the boundary that transitions from the lane change prohibition section to the lane change permission section, a single start node that sets one end of a plurality of links corresponding to each lane corresponding to the start edge of the lane change permission section at the boundary By connecting to the link, the links after the start node are integrated.

In addition, with regard to a boundary that transitions from a lane change allowable section to a lane change prohibited section, one link of the lane change allowable section is connected to a terminal node set corresponding to the end of the lane change allowable section at the boundary. In the lane change prohibition section after the node, the link corresponding to each lane is set so as to branch to each of a plurality of links corresponding to each lane.
As described above, link integration and branching are formed at each corresponding boundary node. Therefore, in the data structure of the road network data formed as a result, within the lane change allowable section, there is a gap between the start node and the end node. Expressed as a lane change allowable section link connecting with a single line on the road network representation.

For this reason, within this lane change allowable section, even if the lane is changed and moved, it is a lane change within a road represented by a single link that does not depend on which lane it corresponds to Therefore, an event corresponding to the prohibition such as allowing movement across the links does not occur essentially.
On the other hand, in the lane change prohibition section, a lane link suitable for each corresponding lane is set, and accurate route guidance can be performed for each lane.

Next, a route guidance apparatus as an embodiment of the present invention using the road network data having the data structure of the present invention as described above will be described.
(Configuration example of route guidance device)
FIG. 11 is a functional block diagram showing the configuration of the route guidance apparatus as an embodiment of the present invention.
The route guidance device 1100 includes an operation unit 1101, a current location detection processing unit 1102, an information holding unit 1103, and a route guidance processing unit 1104, and further includes a display unit 1105, a communication unit 1106, and a system controller. 1107 is provided.

The operation unit 1101, the current location detection processing unit 1102, the information holding unit 1103, the route guidance processing unit 1104, the display unit 1105, and the communication unit 1106 are connected to the system controller 1107 through the bus 1110.
The system controller 1107 comprehensively manages each unit connected by the bus 1110 and operates so as to perform the function of each corresponding unit in cooperation with each unit.
The operation unit 1101 includes predetermined operation switches or a touch panel.
Accept user operations.

The current position detection processing unit 1102 detects the position of the own apparatus (the position of a moving body such as a vehicle on which the own apparatus is mounted) using an inertial navigation device or GPS.
The information holding unit 1103 holds road network data having the data structure of the embodiment of the present invention as described with reference to FIGS. 1 to 5, for example.
That is, the road network data held in the information holding unit 1103 includes each start node data, each end node data, lane change allowable section link data, lane node data, and lane-corresponding link data, Further, each start node data and each end node data is accompanied by data of a corresponding connection state attribute.

Here, each start node data represents a start node set at the start of each lane change allowable section.
Each terminal node data represents a terminal node set at the terminal of each one lane change allowable section.
Further, the lane change permissible section link data includes a lane change permissible section link that connects the corresponding start and end nodes with a single line on the road network expression regardless of the number of lanes in the lane change permissible section. Represents.

The lane node data represents a lane node set corresponding to each node on the road network expression for each lane of the lane change prohibited section.
The lane-corresponding link data represents a lane-corresponding link that connects each corresponding pair of lane nodes among the above-described lane nodes, and is set for each lane.
The connection state attribute data incidental to each start node data represents a state in which a plurality of lane-corresponding links in the lane change prohibited section are drawn toward itself and a single lane change allowable section link is drawn from itself. .

The connection state attribute data incidental to each terminal node data represents a state in which a single lane change allowable section link in the lane change allowable stop section is drawn toward itself and a plurality of lane-corresponding links are extracted from itself.
The route guidance processing unit 1104 generates route guidance data based on the road network data held in the information holding unit 1103.
That is, referring to the road network data held in the information holding unit 1103 according to the user operation received by the operation unit 1101 and the current location of the own device detected by the current location detection processing unit 1102, the lane change prohibition section Data for route guidance that divides the lane is generated.

In the route guidance apparatus 1100 described with reference to FIG. 11, the route guidance processing unit 1104 performs route guidance based on the above-described road network data held in the information holding unit 1103.
For this reason, each start node, each end node, and each lane node are treated as one similar node by each start node data, each end node data, and each lane node data. Accurate route guidance for each lane is performed without requiring any special means for distinguishing and identifying the lane.

(Example of route guidance display)
FIG. 12 is a diagram showing an example of route guidance display by the route guidance device of FIG.
A triangular mark substantially at the lower center of the display screen 1200 is a current position mark 1201 indicating the position of the vehicle on which the route guidance device is mounted, that is, the current position.
A straight road 1210 is displayed in the vertical direction at the center of the display screen 1200.
In this road 1210, the left side of the center separation band M1 drawn in bold lines is an outward path 1211 based on the upward flow in the figure, and the right side of the center separation band M1 is forward of the downward flow in the figure. This is the legal return path 1212.

A thin line displayed in a direction crossing the road 1210 is a boundary line 1220. An upper side of the boundary line 1220 in the drawing is a lane change allowable section 1230 as described above, and a lower side is a lane change prohibited section 1240 as described above. It is.
The first lane 1241, the second lane 1242, and the third lane 1243 set in the lane change prohibition section 1240 are divided into three lanes as shown in the figure.

At the time of illustration, the current location mark 1201 is located in the third lane 1243 of the lane change prohibition section 1240, and a guidance display is displayed so that a guidance route display (hereinafter referred to as a route display) 1250 travels in the third lane 1243. is doing.
The lane change prohibition section 1240 terminates at the boundary line 1220 and shifts to a lane change permission section 1230 ahead of the lane change prohibition section 1220. When the lane change allowable section 1230 is entered, the lane change prohibition is canceled and the lane change is allowed.

For this reason, the route display 1250 indicated by the solid line by the lane division along the third lane 1243 is terminated when the boundary line 1220 is reached, and in the subsequent lane change allowable section 1230, the lane division shown by the broken line Switch to no route display 1250.
Regarding the above-described switching, the route display 1251 of the transitional section for alerting the lane change by the arrow line of the curve is displayed.
At the same time, a guide message 1260 such as “A lane change is possible in 800 m and a parallel running vehicle caution” is superimposed on the right shoulder area of the display screen 1200.

As described above with reference to FIG. 11, in the route guidance device 1100 according to the embodiment of the present invention, the route guidance processing unit 1104 relies on the information for each lane held in the information holding unit 1103. The route guidance process is executed.
As a result, route guidance that takes into account the situation for each lane as described with reference to FIG. 12 is realized.
FIG. 13 is a diagram showing another example of route guidance display by the route guidance device of FIG.
The display in FIG. 13 assumes that the current location is in the lane change allowable section, the lane change prohibited section is in front of the guide route, and a natural traffic jam occurs in the lane change prohibited section.

In FIG. 13, the corresponding parts to FIG. 12 described above are indicated by the same reference numerals.
In FIG. 13, the upper side in the figure from the boundary line 1220 is the lane change prohibited section 1240 as described above, and the lower side is the lane change allowable section 1230 as described above, and in this respect, conditions different from those in FIG. Assumed.
In the lane change prohibition section 1240 above the boundary line 1220, the first lane 1241, the second lane 1242, and the third lane 1243 are displayed divided into three lanes as shown in the figure. Each lane is divided and displayed by a solid thin line.

On the other hand, in the lane change allowable section 1230, a plurality of lanes are set while the lane change is allowed. That is, the first lane 1231, the second lane 1232, and the third lane 1233 are allowed to change lanes.
Although the road network data of the present invention does not enable route guidance in which a lane is divided in a lane change allowable section, the fact that a plurality of lanes are set in the section is interpreted from the attribute data of the link data ( (See attribute data 502 in FIG. 5).

Further, if the current position detection processing unit 1102 in the route guidance device 1100 of FIG. 11 has sufficient detection accuracy of the current position, depending on the data indicating the division of the plurality of lanes and the data indicating the current position as described above, Virtually the current lane can be identified.
In the display example in FIG. 13, the current location mark 1201 is a screen display 1300 that is traveling in the first lane 1241 based on the identification as described above.

When a moving body such as a vehicle corresponding to the current location mark 1201 further progresses, there is a boundary line 1220 on the way to the lane change prohibition section 1230, and within this section, any of a plurality of lanes It is necessary to travel along the road.
A lane to be preferentially selected when the user travels in a lane change prohibition section 1230 in which a plurality of lanes are set by an operation on the operation unit 1101 at an initial time or at an appropriate time after using the route guidance device 1100. It is possible to set.

In the case of FIG. 13, there is a natural traffic jam in the first lane 1231 in the above-described lane change prohibition section 1230 (in FIG. 13, symbolically indicated by a “!” Mark at the end of an elliptical chain and indicated by reference numeral 1310). The occurrence is assumed.
If the user has previously set the first lane 1231 as the lane that preferentially travels, the user will be affected by this natural traffic jam 1310 if the user travels with this selection.
For example, when the host vehicle is caught in the natural traffic jam 1310 when the host vehicle is positioned in the first lane 1231 in the lane change prohibition section, an avoidance action such as interrupting the second lane 1232 without permission is not allowed.

Therefore, it can be expected that the influence of the natural traffic jam 1310 can be kept small if the vehicle travels in the second lane 1232 where the flow is relatively smooth from the beginning.
Therefore, as shown in FIG. 13, information that a natural traffic jam 1310 has occurred in the first lane of the lane change prohibited section 1230 is obtained from the road traffic communication system through the communication unit 1106 in the route guidance device 1100 of FIG. When it is done, the selection by the user is changed, and guidance display is performed so as to change the route so as to travel in the second lane 1232.

That is, the route guidance 1253 shown in the solid line is traveled from the first lane 1241 in the lane change allowable section 1240 via the route display 1252 of the transitional section and the second lane 1232 of the lane change prohibited section 1230 as described above. Do.
In addition to the route display of the route guidance as described above, a guide message 1360 such as “1 km ahead: first lane natural traffic jam change lane change” is superimposed on the right shoulder area on the display screen 1300.

As described above with reference to FIG. 11, in the route guidance device 1100 according to the embodiment of the present invention, the route guidance processing unit 1104 relies on the information for each lane held in the information holding unit 1103. The route guidance process is executed.
As a result, information such as the occurrence of natural traffic jams for each lane is quickly and sufficiently utilized, and natural traffic jams are avoided in consideration of the situation for each lane as described with reference to FIG. Or, route guidance that minimizes the influence of other obstacles is realized.

  The present invention relates to a data structure of road network data that does not impair the compatibility with a conventional route guidance device based on the principle of not permitting relocation across links, a device for generating such road network data, Such a road network data generation program and a route guidance apparatus that effectively uses such road network data can be effectively used.

It is a conceptual diagram for demonstrating a mode that a lane is represented by the data structure of the road network data as one embodiment of this invention. It is a figure showing each part of the road expressed by the road network data of FIG. It is a conceptual diagram showing the data structure of the road network data as one embodiment of this invention. It is a figure which illustrates the data format of the node data in the data structure of the road network data of FIG. It is a figure which illustrates the data format of the link data in the data structure of the road network data of FIG. It is a functional block diagram showing the structure of the road network data generation apparatus as embodiment of this invention. It is a flowchart showing the processing operation of the computer by the program for road network data generation as embodiment of this invention. 8 is a flowchart showing details of integration / branching processing in the flowchart of FIG. 7. It is a flowchart showing the detail of the integration process in the flowchart of FIG. It is a flowchart showing the detail of the branch process in the flowchart of FIG. It is a functional block diagram showing the structure of the route guidance apparatus as embodiment of this invention. It is a figure which shows an example of the route guidance display by the route guidance apparatus of FIG. It is a figure which shows the other example of the route guidance display by the route guidance apparatus of FIG.

Explanation of symbols

10u, 30u ... Lane change prohibition section 20u ... Lane change allowance section 100 ... Road network data 110, 120, 130 ... Lane nodes 111, 121, 131 ... ... Lane-corresponding link 210 ......... Start node 211 ......... lane change allowable section link 220 ......... Termination node 310, 320, 330 ......... lane node 311, 321, 331 ... ... …… Link corresponding to lane 610 ………… Road network data generation device 1100 ………… Route guidance device

Claims (6)

Each start node data representing a start node set at the start of each lane change allowable section,
Each terminal node data representing a terminal node set at the terminal of each one lane change allowable section,
Lane change allowable section link data representing a lane change allowable section link connecting the start node and the end node corresponding to a lane in the lane change allowable section with a single line on the road network expression, regardless of the number of lanes,
Lane node data representing each lane node set corresponding to each node on the road network representation for each lane of the lane change prohibition section,
One corresponding lane node among the lane nodes and another lane node, the corresponding start end node, and the corresponding end node are connected to one node for each lane. Lane-corresponding link data representing each lane-corresponding link
The start node data is obtained by connecting one end of a plurality of lane-corresponding links in the lane change prohibition section to the start node and connecting a single lane change allowable section link to the start node. With connection state attribute data defining the connection state for integrating the corresponding link into the single lane change permissible section link,
Each terminal node data is obtained by connecting a single lane change allowable section link in the lane change allowable stop section to the terminal node and connecting a plurality of lane-corresponding links to the terminal node. A data structure of road network data, which is accompanied by connection state attribute data defining a connection state for branching an allowable section link into the plurality of lane-corresponding links.   Each start node data, each end node data, and each lane node data includes a node identification ID for identifying the node and attribute data attached to the node identification ID. 2. The data structure of road network data according to claim 1, wherein the data structure has the following data format.   The common data format includes the start node data and the end node data, and the start node and the end node represented by the lane node data by a corresponding route guidance device, and The data structure of road network data according to claim 2, wherein each lane node has a data format that is recognized as one node. Link data representing each link which is a line on the road network representation corresponding to each partial section of the lane, and node data representing each node which is a node on the road network representation to which both ends of each link are connected Road network data holding for each link, and road network data including lane change enable / disable identification data for identifying whether the link corresponds to a lane change prohibition section or a lane change permission section And
Based on the lane change permission / prohibition identification data in the road network data held in the road network data holding unit, the node data corresponding to the lane change prohibited section and the link data are converted from the road network data to the lane change prohibited section road. Lane change prohibition section road network data extraction processing unit to extract as network data,
Based on the lane change permission identification data in the road network data held in the road network data holding unit, the node data corresponding to the lane change allowable section and the link data are converted from the road network data to the lane change allowable section road. Lane change allowable section road network data extraction processing unit to extract as network data,
Based on the lane change prohibition section road network data and the lane change allowance section road network data, with respect to a boundary for transition from the lane change prohibition section to the lane change permission section, one end of each link corresponding to each lane is defined as the boundary. With respect to the boundary that is integrated into the link after the start end node by connecting to the start end node set corresponding to the start end of the lane change allowable section in The link of the change allowable section is connected to the terminal node set corresponding to the end of the lane change allowable section at the boundary so as to branch to each link corresponding to each lane in the lane change prohibition section after the terminal node. An integration / branch processing unit to form link integration and branching at each applicable boundary node
A road network data generation device characterized in that the road network data generation device is configured. Link data representing each link which is a line on the road network representation corresponding to each partial section of the lane, and node data representing each node which is a node on the road network representation to which both ends of each link are connected Lane change enable / disable identification data for identifying whether each link corresponds to a lane change prohibition section or a lane change permission section for each link, A data generation program for a computer,
A lane change prohibition section road that extracts the node data and the link data corresponding to the lane change prohibition section as lane change prohibition section road network data from the road network data based on the lane change permission identification data in the road network data Network data extraction processing;
Lane change allowable section road that extracts the node data and the link data corresponding to the lane change allowable section from the road network data as lane change allowable section road network data based on the lane change permission identification data in the road network data Network data extraction processing;
Based on the lane change prohibition section road network data and the lane change allowance section road network data, with respect to a boundary for transition from the lane change prohibition section to the lane change permission section, one end of each link corresponding to each lane is defined as the boundary. With respect to the boundary that is integrated into the link after the start end node by connecting to the start end node set corresponding to the start end of the lane change allowable section in The link of the change allowable section is connected to the terminal node set corresponding to the end of the lane change allowable section at the boundary so as to branch to each link corresponding to each lane in the lane change prohibition section after the terminal node. Integration / branch processing that allows link integration and branching to be formed at each relevant boundary node,
A program for generating road network data to execute. An operation unit that accepts user operations, a current location detection processing unit that detects the current location of the device itself, an information holding unit that retains road network data, a user operation accepted by the operation unit, and a detection by the current location detection processing unit A route guidance processing unit configured to generate a route guidance data based on the current location of the device itself and the road network data held in the information holding unit,
Each of the information holding units represents each start node data representing a start node set at the start of each lane change permissible section, and each end node set respectively at the end of each one lane change permissible section Lane change allowance that represents the end node data and the lane change allowance link that connects the corresponding start and end nodes with a single line on the road network expression regardless of the number of lanes in the lane change allowance section. Section link data, lane node data representing each lane node set corresponding to each node on the road network representation for each lane of the lane change prohibition section, and each corresponding pair of lane nodes among the lane nodes Lane-corresponding link data each representing a lane-corresponding link that is set for each lane, and each starting node data is prohibited from changing lanes. A plurality of lane-corresponding links are drawn toward itself and a single lane change allowable section link is drawn from itself, and the terminal node data includes the lane change allowance. Holds road network data accompanied by a connection state attribute representing a state in which a single lane change allowable section link in the section is drawn toward itself and a plurality of lane-corresponding links are pulled out from the section,
The route guidance processing unit refers to the road network data held in the information holding unit according to the user operation received by the operation unit and the current location of the own device detected by the current location detection processing unit, A route guidance device configured to perform route guidance in which a lane is prohibited with respect to a lane change prohibition section.

Images