JP2013096940A - Movement path specification device and movement path specification method and program therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movement path specification device for accurately calculating a movement path where a vehicle has traveled in the past.SOLUTION: A movement path specification device generates plural items of estimated movement path information to hold a road ID of each road which denotes a past estimated movement path, and determines an estimated movement path information item that is unlikely to be a movement path candidate, to be extra-movement path estimated movement path information. Then, the device determines a road ID included in any estimated movement path information item, other than the estimated movement path information item determined to be extra-movement path estimated movement path information, as a road ID which denotes an established past movement path.

Description

  The present invention relates to a moving path specifying device, a moving path specifying method, and a program thereof, which are installed in a vehicle or the like and specify a moving path of the vehicle.

A car navigation device installed in a vehicle or the like receives a transmission signal transmitted from a GPS satellite, measures the current position of the vehicle, and identifies a road that is currently running. Further, the car navigation device specifies a virtual position corresponding to the actual current position of the vehicle on the specified road on the map displayed on the screen of the car navigation device, and the virtual position is the current position of the vehicle. The process etc. which display the mark which shows that are performed.
Patent Document 1 discloses a technique for displaying the current position on a map output on a display screen.

JP 2008-134187 A

  By the way, in Europe, Singapore and the like, the toll is collected using a billing method called road pricing that charges the toll according to the road on which the vehicle actually travels and the distance. In the road pricing, a movement route is specified based on a positioning result of the vehicle based on a signal received from a GPS satellite, and charging or the like is performed according to the travel distance on the movement route.

  Here, the technology of the car navigation device of Patent Document 1 described above is a technology that accurately maps and displays the current vehicle position on a map even if the road branch is a minute angle branch. However, even when the vehicle travel route is calculated by such a car navigation device and used for the road pricing billing calculation using the travel route, it is erroneously determined that the vehicle is located on another road that is not traveling. May end up. In such a case, there is a possibility that the toll fee for billing will be calculated using the wrong route as the moving route, and the toll fee with high accuracy cannot be calculated.

  Accordingly, an object of the present invention is to provide a moving path specifying device, a moving path specifying method, and a program thereof that can solve the above-described problems.

  In order to achieve the above object, the present invention provides information other than estimated movement route information determined as estimated movement route information outside the movement route, among estimated movement route information including road identification information indicating a past estimated movement route. A travel route specifying device comprising: a travel route output unit that outputs road identification information included in any of the estimated travel route information as road identification information indicating a confirmed past travel route. .

  Further, the present invention provides the above-described travel route specifying device, wherein the travel route output unit is configured so that the estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route is continuously The identification information of the included common road is specified as a confirmed past movement route, and road identification information indicating the past movement route is output.

  The present invention further includes a road information specifying unit that specifies road information existing at a position within an error range from the current position of the own apparatus as a candidate for the current movement path, and the own apparatus, in the above-described movement route specifying apparatus. Based on the moving distance according to the elapsed time of the vehicle, the estimated moving position from the one end point closest to the current position on each road of the current moving route candidate specified by the road information specifying unit is elapsed. An estimated movement position calculation unit that sequentially calculates according to the road information specifying unit, and the road information that the estimated movement position calculated for the road information specified by the road information specifying unit is closest to the other end point of the road information, The next route road information identifying unit that identifies the road information connected to the road indicated by the road information as the next route candidate, and the road information identified by the road information identifying unit as the current travel route candidate The road information identifying unit identifies road information connected to the road information identified as the next route candidate, the road identification information included in the road information, and the next route road information identifying unit is the next route candidate. The estimated movement route information that associates the identification information of the road included in the specified road information with the estimated movement that is separately generated for all of the road information identified by the next route road information specifying unit as candidates for the next route A route information generation unit, and road information identified by the next route road information identification unit as a candidate for the next route is set as a candidate for the current movement route, the estimated movement position calculation unit, and the next route road information The processing of the specifying unit and the estimated travel route information generation unit is sequentially performed, and the estimated travel route information that is less likely to be a travel route candidate among the generated estimated travel route information is regarded as the estimated travel route information outside the travel route. Judge A movement path outside determination unit, a moving path specifying apparatus comprising: a.

  According to the present invention, in the above-described travel route specifying apparatus, the estimated travel route information generation unit includes the position and extension direction of the road in the real space included in the road information identified as the current travel route candidate, The estimated likelihood of the road information identified as the current travel route candidate is calculated using at least the position and the traveling direction in the real space detected by the device, and the calculated estimated likelihood and the current travel route A candidate and road identification information included in the identified road information are associated with each other and recorded in the estimated travel route information, and the travel route output unit is determined to be the estimated travel route information outside the travel route. From the estimated travel route information other than the information, one estimated travel route information is identified based on the estimated likelihood, and the identification information of each road included in the estimated travel route information is determined. And identifies and outputs the past movement pathway.

  According to the present invention, in the above-described travel route specifying apparatus, the travel route output unit is identified recently in each estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route. Among the estimated likelihoods recorded in association with the identified road identification information, the estimated movement route information that records the highest estimated likelihood is specified, and each road included in the estimated movement route information is identified. It is characterized in that information is identified and output as a confirmed past movement route.

  According to the present invention, in the above-described travel route specifying device, the travel route output unit is configured to receive from other devices out of the estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route. The estimated travel route information that records the input road identification information as the recently identified road identification information is identified, and the identification information of each road included in the estimated travel route information is identified as a confirmed past travel route. Output.

  According to the present invention, in the above-described travel route specifying device, the travel route output unit g, and the estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route, a predetermined number of times. Identify estimated travel route information that records the highest estimated likelihood among the estimated likelihoods recorded in association with road identification information included in the road information previously identified as current travel route candidates Then, the identification information of each road included in the estimated movement route information is identified and output as a confirmed past movement route.

  According to the present invention, in the above-described travel route identifying device, the travel route output unit outputs the identification information of the identified past travel route and the identified road, and then outputs the most of the output road identification information. Identification of the connected road recorded in association with the position information close to the current position among the identification information of the road recorded later in the estimated travel route information and the identification information of the connected road included in the newly specified road information If the information does not match, it is characterized in that it is determined to recalculate the output of the road identification information indicating the confirmed past movement route.

  Further, the present invention is a processing method of the movement route identification device, wherein the movement route output unit of the movement route identification device moves out of the estimated movement route information including road identification information indicating a past estimated movement route. Outputting road identification information included in any estimated movement route information other than estimated movement route information determined as out-of-route estimated movement route information as road identification information indicating a confirmed past movement route. This is a characteristic processing method.

  According to the present invention, in the processing method described above, the movement route output unit is continuously included in each estimated movement route information other than the estimated movement route information determined as the estimated movement route information outside the movement route. The common road identification information is identified as a confirmed past movement route, and road identification information indicating the past movement route is output.

  According to the present invention, in the above processing method, the road information specifying unit of the moving route specifying device specifies road information existing at a position within an error range from the current position of the own device as a current moving route candidate. The estimated movement position calculation unit of the movement route identification device is configured to calculate the current movement route candidate identified by the road information identification unit on each road based on the movement distance according to the passage of time of the vehicle equipped with the own device. The estimated movement position from one end point closest to the current position is sequentially calculated as time elapses, and the next route road information specifying unit of the moving route specifying device determines the road information specified by the road information specifying unit. Identify the road information where the calculated estimated movement position is closest to the other end of the road information, identify the road information connected to the road indicated by the road information as a candidate for the next route, and specify the movement route A road information specified by the next route road information specifying unit as a candidate for the next route from among the road information specified by the road information specifying unit as a candidate of the current moving route; The road information to be connected is specified, and the road identification information included in the road information is associated with the road identification information included in the road information identified by the next path road information specifying unit and the next path candidate specified. Estimated travel route information is separately generated for all of the road information identified by the next route road information specifying unit as candidates for the next route, and the outside determination unit of the travel route specifying device includes the next route road information. Road information identified by the identifying unit as a candidate for the next route is set as the candidate for the current travel route, the estimated travel position calculating unit, the next route road information identifying unit, and the estimated travel route information generating unit Process Among the generated estimated travel route information, a processing method characterized by determining possible low estimated travel route information of the candidate travel route and the moving out of the way of estimating the moving route information.

  According to the present invention, the computer of the movement path specifying device estimates the estimated movement path information determined as the estimated movement path information outside the movement path from the estimated movement path information including the road identification information indicating the estimated movement path in the past. This is a program characterized by functioning as travel route output means for outputting road identification information included in any estimated travel route information other than as road identification information indicating a confirmed past travel route.

  According to the present invention, in the above-mentioned program, the movement route output means is included continuously in each estimated movement route information other than the estimated movement route information determined as the estimated movement route information outside the movement route. The road identification information is identified as a confirmed past travel route, and road identification information indicating the past travel route is output.

  In addition, the present invention provides a road information specifying means for specifying road information existing at a position within an error range from the current position of the own device as a candidate for the current travel route, and the time of the vehicle equipped with the own device. Based on the moving distance according to the time, the estimated moving position from one end point closest to the current position on each road of the candidate of the current moving route specified by the road information specifying means is sequentially calculated over time. An estimated movement position calculating means, the road information that the estimated movement position calculated for the road information specified by the road information specifying means is closest to the other end of the road information is specified, and the road indicated by the road information Next route road information specifying means for specifying the road information connected to the next route candidate, and the next route road from the road information specified by the road information specifying means as a candidate for the current travel route. The information specifying means specifies road information connected to the road information identified as the next route candidate, the road identification information included in the road information, and the next route road information specifying means specifies the next route candidate. Estimated travel route information that separately generates the estimated travel route information associated with the road identification information included in the road information for all of the road information identified by the next route road information identifying means as candidates for the next route Generating means, setting the road information identified by the next route road information specifying means as a candidate for the next route as a candidate for the current movement route, the estimated movement position calculating means, the next route road information specifying means, The estimated movement route information generating means sequentially performs processing, and among the generated estimated movement route information, estimated movement route information that is not likely to be a movement route candidate is estimated movement route information outside the movement route. It determines movement path outside determining means, characterized in that to function as a.

  According to the present invention, it is possible to accurately calculate the travel route that the vehicle has traveled in the past.

It is a block diagram which shows the structure of the movement path | route identification apparatus by one Embodiment of this invention. It is a figure for demonstrating the road information which a map data memory | storage part memorize | stores. It is a 1st figure which shows an estimated movement path | route information data table. It is a figure which shows the processing flow of a movement path | route identification apparatus. It is a 1st figure which shows the process outline | summary of a road information specific | specification part. It is a 2nd figure which shows the process outline | summary of a road information specific | specification part. It is a 2nd figure which shows an estimated movement path | route information data table. It is a figure which shows the process outline | summary of the determination part outside a movement path | route. It is a 3rd figure which shows an estimated movement path | route information data table. It is a 1st figure which shows the process outline | summary of a movement path | route output part. It is a 2nd figure which shows the process outline | summary of a movement path | route output part. It is a 3rd figure which shows the process outline | summary of a movement path | route output part. It is a 4th figure which shows the process outline | summary of a movement path | route output part. It is a figure which shows the outline | summary of the effect of a movement path | route identification apparatus. It is a 5th figure which shows the process outline | summary of a movement path | route output part. It is a figure which shows the process outline during tunnel driving | running | working.

Hereinafter, a movement path specifying device according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a movement path identification device according to the embodiment.
In this figure, reference numeral 1 denotes a movement path specifying device. The movement path specifying device 1 is, for example, a device that is provided in a car navigation device provided in a vehicle or connected to the car navigation device via a communication cable in the vehicle. The movement route specifying device 1 is a device that accurately determines a road on which a vehicle including the device has traveled in the past.

  The movement path specifying device 1 is connected to a latitude / longitude measuring device 2, an acceleration sensor 3, a gyro sensor 4, and a vehicle speed signal output device 5 provided in the vehicle via a communication cable. The movement path identification device 1 inputs information output from the latitude / longitude measurement device 2, the acceleration sensor 3, the gyro sensor 4, and the vehicle speed signal output device 5 at the input unit 10 of the movement path identification device 1. Further, the travel route specifying device 1 includes a communication unit 11, a map data storage unit 12, a road information specifying unit 13, an estimated travel position calculating unit 14, a next route road information specifying unit 15, an estimated travel route information generating unit 16, and an estimated travel. A route information storage unit 17, a travel route out-of-travel determination unit 18, a travel route output unit 19, a confirmed travel route storage unit 20, a charging request response unit 21, and a control unit 100 are provided.

The communication unit 11 is a processing unit that receives information from another device via a wireless communication network. In the present embodiment, for example, a signal transmitted from a transmitting device provided beside a road and information transmitted from an information distribution server connected to a network via a wireless base station device are received.
The map data storage unit 12 is a storage unit that stores map data including road information for each road included in the map. Although the movement path | route identification apparatus 1 by this embodiment demonstrates the example in the case of providing the map data storage part 12 in an own apparatus, you may make it equip an external apparatus with the map data storage part 12. FIG. In that case, the movement path identification device 1 reads and processes information stored in the map data storage unit 12 via a communication cable or a communication network.
Further, the road information specifying unit 13 is based on the information input from the input unit 10, and the travel route of the vehicle including the own device is selected from a plurality of road information stored in the map data in the map data storage unit 12. It is a processing part which specifies the road information at the beginning of the movement which becomes a candidate.

The estimated movement position calculation unit 14 is a processing unit that calculates the position in the specified road information based on the travel of the vehicle.
The next route road information specifying unit 15 is a processing unit that specifies road information that is a candidate for the next route.
Further, the estimated movement route information generation unit 16 uses road information identified as a candidate for the current movement route or road information identified as a candidate for the next route, and road identification information (roads) indicated by the road information. ID) is a processing unit that generates estimated travel route information that is associated and stored in the order of travel routes. Although the details of the estimated movement route information will be described later, the road ID of the road on which the vehicle provided with the movement route identification device 1 has traveled in the past or the present is stored. For example, when the estimated movement route information generation unit 16 estimates that there is a possibility that the roads A, B, C, and D have traveled in order, the road IDs of the roads A, B, C, and D are sequentially associated with each other. The estimated movement route information stored in the above is generated. The estimated movement route information generation unit 16 estimates that the roads A, B, C, and D may have been traveled in order, and at the same time, may have traveled the roads A, B, C, and E in order. In this case, estimated movement route information is generated in which the IDs of the roads A, B, C, and E are sequentially associated and stored.
The estimated travel route information storage unit 17 is a storage unit that stores the estimated travel route information generated by the estimated travel route information generation unit 16. More specifically, the estimated travel route information generation unit 16 writes the generated estimated travel route information in the estimated travel route information storage unit 17. As a result, the estimated travel route information storage unit 17 stores the estimated travel route information.

Further, the outside-of-movement-path determining unit 18 is a processing unit that determines, from the estimated movement route information recorded in the estimated movement-route information storage unit 17, estimated movement route information including information on roads determined to be out of the movement route. .
In addition, the movement route output unit 19 uses the estimated movement route information other than the estimated movement route information including the information of the road determined to be out of the movement route, and outputs the road information determined as the road indicating the past movement route. Part.

The confirmed travel route storage unit 20 is a storage unit that stores information on a road that has been confirmed by the travel route output unit 19 as a road indicating a past travel route.
The charging request response unit 21 is a processing unit that makes a charging request response in response to a charging request from an external device such as a charging device. Information recorded in the confirmed movement route storage unit 20 is stored in the billing request response. That is, when the charging request is input, the charging request response unit 21 reads the information recorded in the confirmed movement path storage unit 20, generates a charging request response including the information, and charges through the communication unit 11. It is a processing unit that performs control to transmit to a request transmission source device.
Further, the control unit 100 includes an input unit 10, a communication unit 11, a road information specifying unit 13, an estimated moving position calculating unit 14, a next route road information specifying unit 15, an estimated moving route information generating unit 16, and an outside moving route determining unit 18. , A processing unit that controls each processing unit of the movement route output unit 19 and the charging request response unit 21. Note that each of these processing units is provided in the movement path identification device by the CPU of the computer provided in the movement path identification device 1 executing a program.

And the movement path | route identification apparatus 1 provided with such each process part and memory | storage part estimates the road on the path | route which the vehicle provided with the own apparatus drive | worked in the past, and shows the confirmed past movement path | route. The road ID is output.
More specifically, the movement route specifying device 1 is road information about each of a plurality of roads divided at the end points, branch points, or connection points of the road, and the road ID and the end points in the real space of the road are A position within an error range based on at least a position in the real space of the own device from road information including at least the position information and the extending direction including the ID of the connection road (connection road ID) connected to the road. Is identified as a candidate for the current travel route.

Moreover, the movement path | route identification apparatus 1 specifies the positional information on the one end point nearest to the present position in the real space of the own apparatus among the positional information included in the specified road information for each specified road information. Based on the movement distance of the own device according to the passage of time, the estimated movement position on the road indicated by the identified road information is sequentially calculated with the passage of time.
Moreover, the movement path | route identification apparatus 1 specifies the road information in which the estimated movement position calculated with respect to the specified road information approached the other end point of the said road information earliest, and connects to the other end point of the said road information. The road information indicating the road is identified as a candidate for the next route.
Further, the travel route specifying device 1 selects the next location candidate and the location information of the end point included in the specified road information from the road information identified as the current travel route candidate within a predetermined distance. The road information including the position information is specified, and the estimated moving route information in which the road ID included in the road information is associated with the road ID included in the specified road information is determined as the next route candidate. It generates about all the road information specified.

In addition, the travel route specifying device 1 sets the road information identified as the next route candidate as the current travel route candidate, calculates the estimated travel position, specifies the next route road information, and generates the estimated travel route information. In the generated estimated movement route information, the estimated movement route information that is not likely to be a movement route candidate is determined as the estimated movement route information outside the movement route.
In addition, the movement route specifying device 1 uses the road ID included in any estimated movement route information other than the estimated movement route information determined to be the estimated movement route information outside the movement route, and indicates a road that indicates a confirmed past movement route. Output as ID.

Alternatively, in the output of the road ID indicating the confirmed past travel route, the travel route specifying device 1, for example, in each estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route, A common road ID continuously included is identified as a confirmed past travel route, and a road ID indicating the past travel route is output.
Alternatively, in the output of the road ID indicating the confirmed past travel route, the travel route specifying device 1 may, for example, select from the estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route. Then, one piece of estimated travel route information is identified based on the estimated likelihood, and each road ID included in the estimated travel route information is identified and output as a confirmed past travel route.

Alternatively, in the output of the road ID indicating the confirmed past travel route, the travel route specifying device 1 is included in each estimated travel route information other than the estimated travel route information determined to be the estimated travel route information outside the travel route, for example. Among the estimated likelihoods recorded in association with the recently identified road ID, the estimated movement route information that records the highest estimated likelihood is identified, and each road ID included in the estimated movement route information Is identified and output as a past movement route.
Alternatively, in the output of the road ID indicating the confirmed past travel route, the travel route specifying device 1 includes, for example, the estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route, The estimated travel route information that records the road ID input from the other device as the recently identified road ID is identified, and each road ID included in the estimated travel route information is identified and output as a confirmed past travel route. .

Alternatively, in the output of the road ID indicating the confirmed past travel route, the travel route specifying device 1 includes, for example, the estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route, Among estimated likelihoods recorded in association with the road ID included in the road information identified as the current travel route candidate a predetermined number of times ago, the estimated travel route information that records the highest estimated likelihood is identified. Then, each road ID included in the estimated travel route information is identified and output as a confirmed past travel route.
Alternatively, in the output of the road ID indicating the confirmed past travel route, the travel route specifying device 1 outputs, for example, the confirmed past travel route and the identified road ID, and then the last of the output road IDs. When the road ID recorded in the estimated movement route information does not match the connection road ID recorded in association with the position information close to the current position among the connection road IDs included in the newly specified road information. Determines to recalculate the output of the road ID indicating the confirmed past travel route.

FIG. 2 is a diagram for explaining road information stored in the map data storage unit.
The road information stored in the map data storage unit 12 is information on each road appearing on the map indicated by the map data, and the road ID of the road, the position (latitude, longitude) of the road in the real space, and the extension direction. And the information of a connection road ID indicating other roads to be connected are stored. For example, roads appearing on a map indicated by map data are divided at positions such as branch points, start points, and end points of roads, and road IDs are assigned to the divided roads. For example, the road on the map as shown in FIG. 2 is divided into nine roads from the road ID1 to the road ID9 based on the start point, branch point, and connection point with other roads.

  For the road as shown in FIG. 2, nine pieces of road information from the road ID1 to the road ID9 are recorded in the map data storage unit 12. In one road information, as the position of the road in the real space, there are a plurality of position information of the end points such as the start point and the end point of the road for one divided road indicated by the road ID, and a plurality of intermediate points. Location information may be stored. For example, in the case of the road of ID1 in FIG. 2, the position information of the connection point connected to the road of ID2, the position information of the connection point connected to the road of ID3, the position information of the intermediate point of the road of ID1, etc. Stored in the road information of the road. Alternatively, the position information of each point at a predetermined interval between the end points such as the start point and the end point may be stored in the road information.

  Further, the extending direction stored in the road information is, for example, an angle formed with a certain reference direction. For example, if the reference direction is a direction of true north, the extension direction corresponding to the position of a point on a road included in the road information is a straight line connecting the position of another point on the same road adjacent to the point. This is the angle formed with the reference direction. Further, for example, in the present embodiment, the road information may include the position information of a plurality of points on the road and the extending direction indicated by the angle from the reference direction for each of the position information of the plurality of points. Good.

  Further, since the road indicated by road ID1 is connected to the road indicated by road ID2 and the road indicated by road ID3, the road information including the road ID1 includes the connection road ID2 and the connection road as the connection road ID. Road ID3 is stored. Here, for example, these connection road IDs are registered in association with the position information of the end point on the side to which the road indicated by the connection road ID is connected, among the position information of the end points included in the road information. That is, for example, in the case of road information of road ID1, road ID2 is connected to the end point A of the road, and road ID3 is connected to the end point B of the road. Therefore, as road information of road ID1, road ID1, position information of end point A, and position information of end point B are stored. Further, road ID2 is associated with the position information of end point A and is associated with the position information of end point B. Road ID3 is stored. Various information in the road information may be stored in a format other than this.

FIG. 3 is a first diagram illustrating an estimated movement path information data table stored in the estimated movement path information storage unit.
The estimated travel route information storage unit 17 stores one or a plurality of estimated travel route information generated by the estimated travel route information generation unit 16 in the estimated travel route information data table. In the example of FIG. 3, immediately after the movement route identification device 1 starts processing, four roads estimated as roads on which the vehicle equipped with the device travels are extracted from the road information recorded in the map data storage unit 12. It is an example when road information is specified and recorded in the estimated travel route information data table.

  The example in FIG. 3 is an example in which four pieces of road information including each of ID = 1, 2, 4, 5 are specified immediately after the movement route specifying device 1 starts processing. Each estimated travel route information stores a travel route outside flag indicating whether or not it is determined that the travel route is outside, and road information. In the present embodiment, the out-of-movement-flag flag is set to “0” in a situation where it is not determined that the movement path is out, and “1” is set in a situation where it is determined out of the movement path. The road information stored in the estimated travel route information is, for example, a road ID and an estimated likelihood. The estimated likelihood is a value indicating a degree (likelihood) that the road is estimated to be a road on which a vehicle equipped with the estimated route specifying device travels, and is a value calculated by the estimated movement route information generation unit 16.

FIG. 4 is a diagram showing a processing flow of the movement path identification device.
Next, details of the processing of the movement path identification device will be described in order with reference to FIG.
First, when the vehicle is started, power is supplied from the battery of the vehicle to the movement path specifying device 1 provided in the vehicle. Then, the control unit 100 of the travel route specifying device 1 outputs a road information specifying process start request signal to the road information specifying unit 13. Then, the road information specific | specification part 13 starts a road information specific process (step S101). When the vehicle is started, power is also supplied to the latitude / longitude measuring device 2, the acceleration sensor 3, the gyro sensor 4, and the vehicle speed signal output device 5. The latitude / longitude measuring device 2, the acceleration sensor 3, the gyro sensor 4, and the vehicle speed signal output device 5 each output a detection signal to the movement path specifying device 1.

  Specifically, the latitude / longitude measuring device 2 outputs the current position (latitude, longitude) of the vehicle provided with the moving route specifying device 1 to the moving route specifying device 1 at a predetermined interval. Further, the acceleration sensor 3 outputs the current acceleration of the vehicle to the movement path specifying device 1 at a predetermined interval. Further, the gyro sensor 4 outputs the angle of the vehicle based on a predetermined direction and the angular velocity of the vehicle to the movement path specifying device 1 at predetermined intervals. Further, the vehicle speed signal output device 5 outputs a pulse signal (vehicle speed signal) proportional to the rotational speed of the axle to the movement path specifying device 1. And the road information specific | specification part 13 of the movement path | route specific | specification apparatus 1 specifies the road information of the movement start initial stage which exists in the error range of the said current position first using the present position of these input information ( Step S102).

FIG. 5 is a first diagram showing an outline of processing of the road information specifying unit.
If the process of step S102 is demonstrated in detail, the road information specific | specification part 13 will read the distance of an error range from memory etc. FIG. The road information specifying unit 13 reads road information storing a road IDx from the map data storage unit 12, and the distance from the road information to the current position among the position information stored together with the road IDx is the shortest. The position information is read, and it is determined whether the distance between the position indicated by the position information and the current position is less than the error range distance. If the determination is Yes, the road information specifying unit 13 presumes and specifies the road information including the road IDx as a candidate of an initial road that may be on the moving route. And the road information specific | specification part 13 determines whether there exists a road in an error range similarly using the road information about each road stored in the map data storage part 12, and shows the road in an error range The road information is estimated and specified as road information indicating a possible road candidate on the moving route.

FIG. 5 shows an example in which the current position of the vehicle is near the connection point between the road with the road ID1 and the road with the road ID2. In this case, the distance between the position of a point (such as an end point) on the road included in each of the four road information including each road ID of road ID1, road ID2, road ID4, and road ID5 and the current position is within an error range. Suppose there is. Then, the four pieces of road information including the road IDs of the road ID1, road ID2, road ID4, and road ID5 are estimated and specified as road information indicating possible road candidates on the movement route.
The road information specifying unit 13 reads the four specified road information including the road IDs of the road ID 1, the road ID 2, the road ID 4, and the road ID 5 from the map data storage unit 12 and outputs them to the estimated movement position calculation unit 14. To do. Further, the road information specifying unit 13 outputs the four specified road information to the estimated moving route information generating unit 16 as road information at the beginning of movement.

  When the estimated movement route information generation unit 16 inputs the road information at the beginning of movement, the estimated movement route information generation unit 16 determines whether the estimated movement route information is already recorded in the estimated movement route information data table of the estimated movement route information storage unit 17. Here, in the initial state after the power is supplied to the movement route specifying device 1, the estimated movement route information is not recorded in the estimated movement route information data table of the estimated movement route information storage unit 17. The estimated movement route information generation unit 16 reads the road ID from each road information at the beginning of movement specified by the road information identification unit 13, and estimates the number of road information at the beginning of movement including the road ID separately. Travel route information is generated (step S103). That is, the estimated movement route information generation unit 16 includes the estimated movement route information 1 including the road ID1, the estimated movement route information 2 including the road ID2, the estimated movement route information 3 including the road ID4, and the estimated movement including the road ID5. Route information 4 is generated. Then, the estimated movement route information generation unit 16 registers the information of the estimated movement route information 1 to 4 in the estimated movement route information data table.

At this time, the estimated travel route information generation unit 16 associates the estimated travel route information 1 with a travel route outside flag indicating “0” in a situation that is not determined to be out of the travel route, and the road ID 1 as the road information. In addition, it is recorded in the estimated travel route information data table in the estimated travel route information storage unit 17.
Further, the estimated travel route information generation unit 16 associates, for the estimated travel route information 2, a travel route outside flag indicating “0” in a situation that is not determined to be out of the travel route and a road ID 2 as the road information. It is recorded in the estimated movement route information data table in the estimated movement route information storage unit 17.
In addition, the estimated travel route information generation unit 16 associates, for the estimated travel route information 3, a travel route outside flag indicating “0” in a situation that is not determined to be out of the travel route and a road ID 4 as the road information. It is recorded in the estimated movement route information data table in the estimated movement route information storage unit 17.
Further, the estimated travel route information generation unit 16 associates, for the estimated travel route information 4, a travel route outside flag indicating “0” in a situation that is not determined to be out of the travel route and a road ID 5 as the road information. It is recorded in the estimated movement route information data table in the estimated movement route information storage unit 17.
Thereby, the estimated movement route information generation part 16 produces | generates an estimated movement route information data table as shown in FIG.

FIG. 6 is a second diagram showing an outline of processing by the road information specifying unit.
On the other hand, when the estimated movement position calculation unit 14 inputs the road information at the beginning of movement specified by the road information specification unit 13, the actual space of the device itself is selected from the end points of the position information included in the road information. The position information of one end point close to the current position is specified. For example, position information of one end point close to the current position is read from four pieces of road information including road ID1, road ID2, road ID4, and road ID5. Then, the travel distance is sequentially calculated using the vehicle speed signal, acceleration, each speed, latitude and longitude, etc., input from the input unit 10 as time elapses. The estimated movement position calculation unit 14 sequentially calculates the estimated movement position (see FIG. 6A) according to the movement distance from each one of the end points specified in the four specified road information (step S104), The road information specified by the road information specifying unit 13 and the estimated movement position calculated repeatedly over time for each of the specified road information are output to the next route road information specifying unit 15.

  The next route road information specifying unit 15 sequentially inputs the road information specified by the road information specifying unit 13 and the estimated moving position for each specified road information from the estimated moving position calculating unit 14. Then, the next route road information specifying unit 15 repeatedly calculates the distance between the position information of the other end point different from the one end point included in the road information and the estimated movement position for each specified road information, It is determined for each road information whether the distance is within a predetermined distance (step S105). Then, the road information that is within the predetermined distance earliest is specified (step S106). As a result, when it is estimated that each of the roads indicated by the road information specified by the road information specifying unit 13 has moved according to the movement distance indicated by the estimated movement position, Identify the road that reaches the connection point.

  The next route road information specifying unit 15 then connects the road information of the road connected to the other end point of the road information specified that the current position of the vehicle is closest to the position of the other end point in each specified road information. The information is specified as road information (see FIG. 6B) of a road indicating a candidate for the next route (step S107). For example, the connection road ID included in the specified road information in association with the other end point of the road information specified that the current position of the vehicle is closest to the position of the other end point in each specified road information Is detected. Then, road information including the road ID having the same ID as the connected road ID is read from the map data storage unit 12, and the road information is specified as road information indicating a candidate road for the next route. In the example of FIG. 6B, the road information of the road ID 4 and the road information of the road ID 5 are specified as road information that is a candidate for the next route. Then, the next route road information specifying unit 15 is road information that is a candidate for the current travel route specified by the road information specifying unit 13 and a road that is a candidate for the next route specified by the next route road information specifying unit 15. Information is output to the estimated movement route information generation unit 16.

  The estimated movement route information generation unit 16 is road information that is a candidate for the current movement route specified by the road information specification unit 13 and road information that is a candidate for the next route specified by the next route road information specification unit 15. Is input from the next route road information specifying unit 15, the estimated likelihood of each road indicated by the road information that is a candidate for the current travel route is calculated. The estimated likelihood is an index value indicating the degree of likelihood (likelihood) that the vehicle is traveling on the road indicated by the road information that is a candidate for the current travel route.

  A specific calculation method is, for example, the time lapse of the vehicle between the time when the road information that is a candidate for the current travel route is specified and the time when the road information that is a candidate for the next route is specified. First, the corresponding position information P1, the movement distance L1, and the traveling direction D1 are calculated. The estimated movement route information generation unit 16 reads each position information P2 included in the road information that is a candidate for the current movement route, the extension distance L2 between the end points of the road, and the extension direction D2. Then, the difference between the position information P1 and the position information P2, the difference between the moving distance L1 and the extending distance L2, the angle indicated by the traveling direction D1 (an angle from a reference direction such as true north) and the angle indicated by the extending direction D2 (true north) The angle from the reference azimuth) is calculated according to the passage of time, and the sum of values weighted for these is calculated as the estimated likelihood. Then, the estimated movement route information generation unit 16 associates the estimated likelihood calculated for the road information as a candidate for the current movement route with the road ID of the road information, and stores it in the estimated movement route information data table shown in FIG. Recording is performed (step S108). Then, the calculation of the estimated likelihood and the recording in the estimated travel route information data table are performed for the road information that is a candidate for all current travel routes.

  After the process of step S106 described above, the next route road information specifying unit 15 sets the road information specified as the next route candidate as the current moving route candidate, and indicates the current moving route candidate. Information is output to the estimated movement position calculation unit 14. Then, the estimated movement position calculation unit 14 calculates the estimated movement position in the same manner as described above, using the road information that is a candidate for the current movement route input from the next route road information specifying unit 15. Further, based on the estimated movement position, the next route road information specifying unit 15 specifies specific information that is a candidate for the next route. Then, the same processing is repeated in the estimated movement position calculation unit 14 and the next route road information specifying unit 15 at intervals of predetermined timings (T1, T2,...), And the next route road information specifying unit 15 is set to the predetermined intervals. Thus, the road information that is a candidate for the current travel route and the road information that is a candidate for the next route are output to the estimated travel route information generation unit 16.

  The estimated travel route information generation unit 16 inputs from the next route road information specifying unit 15 road information that is a candidate for the current travel route and road information that is a candidate for the next route at predetermined intervals. For each input, the estimated travel route information is updated or generated (step S109). More specifically, the estimated travel route information generation unit 16 determines whether the estimated travel route information is already recorded in the estimated travel route information data table of the estimated travel route information storage unit 17. Here, the estimated movement route information including the road ID of the road information at the beginning of the movement is already recorded in the estimated movement route information data table by the above-described processing. Then, the estimated movement route information generation unit 16 connects the road information identified as the next candidate for the next route from the road information identified as the current candidate for the movement route, and the connection road ID associated with the position information of the end point included in the identified road information. The road information holding the same road ID is specified. The estimated movement route information in which the road ID included in the road information and the road ID included in the specified road information are associated with the next route candidate is separately obtained for all the road information specified as the next route candidate. To generate.

  That is, using the example of FIGS. 5 and 6, the road information identified as the current travel route candidate is road information including road ID1, road ID2, road ID4, and road ID5. The road information identified as a candidate for the next route is road ID 4 and road ID 5. Then, the estimated movement route information generation unit 16 reads the connection road ID associated with the position information of the end point from the road information of the road ID 4 and the road ID 5 identified as the next route candidate. The connection road ID includes the connection road ID2. Then, the estimated movement route information generation unit 16 specifies road information having the same road ID as the read connection road ID from road information including road ID1, road ID2, road ID4, and road ID5. That is, road information including road ID 2 is specified.

  Then, the estimated travel route information generation unit 16 copies the estimated travel route information (estimated travel route information 2 in FIG. 3) including the connection road ID2 as the road ID of the previously identified road information, and the estimated travel route information. The new estimated movement route information 2-2 recorded in the road ID 4 of the road information identified as the next route candidate in association with the road ID 2 is generated. Similarly, the estimated travel route information generation unit 16 copies the estimated travel route information (estimated travel route information 2 in FIG. 3) including the connection road ID2 as the road ID of the previously identified road information, and the estimated travel route. In the information, new estimated movement route information 2-3 recorded with the road ID 5 of the road information identified as the next route candidate in association with the road ID 2 is generated.

  In addition, the estimated movement route information generation unit 16 reads the road ID for each of the estimated movement route information 1 to 4 already recorded in the estimated movement route information storage unit 17, and uses the road ID as the estimated movement route information. In association with the same road ID. That is, the estimated travel route information 1 is updated by associating the road ID1 and the road ID1. Similarly, the estimated movement route information 2 is updated by associating the road ID 2 with the road ID 2. Similarly, the estimated travel route information 3 is updated in association with the road ID 4 and the road ID 4. Similarly, the estimated movement route information 4 is updated in association with the road ID 5 and the road ID 5.

FIG. 7 is a second diagram showing an estimated movement path information data table stored in the estimated movement path information storage unit.
As a result of the process of the estimated travel route information generation unit 16 described above, the estimated travel route information data table is converted into the estimated travel route information 1, the estimated travel route information 2, the estimated travel route information 2-2, the estimated travel, as shown in FIG. Route information 2-3, estimated travel route information 3, and estimated travel route information 4 are stored. At the end stage of the processing described above, each estimated travel route information is recorded with the road ID of the road information (road information 1) specified at the beginning of travel (timing T1) and its estimated likelihood. In association with the road ID, the road ID of the road information (road information 2) specified by the next route road information specifying unit as the next route candidate at timing T2 is recorded. The estimated likelihood associated with each road ID indicated by the road information 2 is not yet registered at the time of this processing.

  Then, the estimated movement route information generation unit 16 next selects the road information to be a candidate for the current movement route specified by the road information specification unit 13 and the next route candidate specified by the next route road information specification unit 15 next time. When the next road information is input from the next route road information specifying unit 15, the same processing as the above-described estimation likelihood calculation method is performed. Then, the estimated movement route information generation unit 16 calculates an estimated likelihood for the road of each road ID indicated by the road information 2, and corresponds to the estimated likelihood calculated for each road information that is a candidate for the current movement route. In association with the road ID of the road information to be recorded in the estimated movement route information data table. Thereby, the estimated likelihood is recorded in association with each road ID recorded as the road information 2 of each estimated movement route information in FIG.

Next, the out-of-travel-path determining unit 18 recently identified the road ID of the road that is considered to be unlikely to be a travel route from the estimated travel route information recorded in the estimated travel route information storage unit 17. A process of excluding the estimated movement route information recorded as the road ID of the road information from the candidates is performed (step S110).
In this process, for example, when a road information notification signal (beacon) storing a road ID is received from an external device via the communication unit 11 during the above-described process, the road information notification signal The estimated movement route information for recording the road ID other than the road ID read from the above as the road ID of the road information specified last is excluded from the candidates.
Alternatively, for example, the estimated movement route information in which the estimated likelihood equal to or less than the threshold is recorded among the estimated likelihoods recorded in the estimated movement route information in association with the road ID of the road information specified last. Are excluded from the candidates.

FIG. 8 is a diagram showing an outline of the process of the determination unit outside the movement route.
FIG. 8 shows the estimated movement route information shown in FIG. 7 in a tree diagram. Each estimated movement route information stores road information specified at each of timings T1 and T2. In such a state, the movement route out-of-route determination unit 18 records estimated movement route information 1 in which an estimated likelihood equal to or less than a threshold is recorded in association with the latest (timing T2) road information based on the estimated likelihood. An example in which the estimated movement route information 3 and the estimated movement route information 4 are excluded from candidates is shown.

FIG. 9 is a third diagram showing an estimated movement path information data table stored in the estimated movement path information storage unit.
The out-of-travel determination unit 18 identifies the road ID of the road that is considered to be unlikely to be a travel route from the estimated travel route information recorded in the estimated travel route information storage unit 17 at the end (timing T2). When the estimated movement route information recorded as the road ID of the road information is excluded, as shown in FIG. 9, the movement route outside flag stored in the estimated movement route information determined to be excluded is changed from “0” to “ Rewrite to “1”. Then, the movement route out-of-movement determination unit 18 outputs a movement route determination request to the movement route output unit 19.

  Next, when the travel route output unit 19 inputs a travel route confirmation request from the travel route outside determination unit 18, the estimated travel route information including “0” in the travel route outside flag recorded in the estimated travel route information storage unit 17. The road ID to be determined as the travel route is specified from the road IDs indicating the past travel route and the road ID included in the road ID (step S111). Specifically, for example, the travel route output unit 19 sets the road recorded first in all the estimated travel route information including “0” as the out-of-travel route flag recorded in the estimated travel route information storage unit 17. The road IDs are compared in order from the ID, and a common road ID is extracted continuously. Then, the movement route output unit 19 identifies the roads indicated by the road IDs that are consecutively shared from the extracted first road IDs as the confirmed past movement routes, and indicates the confirmed movement route “first” The common road ID continuously from the road ID ”is recorded in the confirmed movement route storage unit 20.

FIG. 10 is a first diagram illustrating an outline of the process of the movement route output unit.
In this figure, each estimated movement route information including road information specified at each timing T1, T2, T3, and T4 is shown in a tree diagram. In addition, based on the estimated travel route information, an example is shown in which the road indicated by the common road ID continuously from the first road ID identified at the timing T1 is identified as the confirmed past travel route. The example of FIG. 10 is an example in the case where there are three pieces of estimated travel route information including “0” as the out-of-travel route flag recorded in the estimated travel route information storage unit 17. Then, the travel route output unit 19 uses the three estimated travel route information to determine the road ID 2 identified at the timing T1 and the road ID 4 identified at the timing T2 as a common road ID continuously from the first road ID. An example of recording in the movement path storage unit 20 is shown.

  Here, in addition to the above-described processing, the movement path identification device 1 performs a map matching process in which a current position that has been conventionally performed is plotted and displayed on a map displayed on a display unit such as a monitor. (Step S112). And the control part 100 of the movement path | route identification apparatus 1 is based on input, such as a power supply OFF, the process primary stop request signal contained in the radio signal received from the external device at the time of entrance to a parking lot, the charge request signal from the outside. Whether or not to end is determined (step S113), and if not ended, the processing from step S104 is repeated. As a result, new estimated travel route information is recorded in the estimated travel route information data table of the estimated travel route information storage unit 17, or the estimated travel route information is updated or excluded from the estimated travel route information candidates. . The travel route output unit 19 records the road IDs indicating the past travel routes sequentially determined by repeating the processing in the confirmed travel route storage unit 20 after step S111. For example, when a billing request is input (step S114), the billing request response unit 21 outputs a billing request response storing the road ID recorded in the confirmed travel route storage unit 20 to the request source. (Step S115).

  Here, the request source of the charge request is, for example, a charge processing device connected via a wireless communication network, a car navigation device connected via a communication cable, or the like. Then, when the requesting device inputs the charging request response, the requesting device performs charging processing based on the road ID stored in the charging request response.

  There is a possibility that a common road ID cannot be extracted continuously from the first road ID using each of the estimated movement route information including “0” as the out-of-movement route flag recorded in the estimated movement route information storage unit 17. There is. For example, it is assumed that there is an area where calculation is difficult due to complicated road branching. In such a case, a transmission device that transmits a road information notification signal in which the road ID is stored is installed on the road, and the movement route identification device 1 receives the road information communication signal via the communication unit 11 and moves. The route output unit 19 may specify a road ID to be determined as a travel route based on the road ID included in the road information communication signal. In this case, the movement route output unit 19 holds, as the last recorded road ID, the road ID read from the road information communication signal from all the estimated movement route information including the movement route outside flag including “0”. The estimated travel route information is identified, the road indicated by each road ID included in the estimated travel route information is identified as the confirmed past travel route, and the road ID indicating the confirmed travel route is determined as the confirmed travel route storage unit 20. To record.

  Alternatively, when the user is in a specific area, a highly reliable road ID is stored for the final travel route, and if it can be determined that the vehicle is traveling on a road in the area, the reliability is stored. A high-quality road ID is read from a reliability database in its own device. Then, the estimated movement route information for recording the road ID as the road ID of the recently specified road information is specified, and the road indicated by each road ID included in the estimated movement route information is determined as the past movement route determined. The road ID indicating the determined travel route that has been identified may be recorded in the confirmed travel route storage unit 20.

  Alternatively, the movement route output unit 19 may use another method in the above-described processing for identifying a confirmed past movement route. For example, when the travel route output unit 19 receives a travel route confirmation request from the travel route outside determination unit 18, the travel route output unit 19 includes the estimated travel route including the travel route outside flag “0” recorded in the estimated travel route information storage unit 17. From the information, one estimated travel route information is identified based on the estimated likelihood, and each road ID included in the estimated travel route information is identified and output as a road ID indicating a confirmed past travel route. You may do it. In this case, the travel route output unit 19 recorded the extra travel route flag recorded in the estimated travel route information storage unit 17 from the estimated travel route information including “0” in the last estimated travel route information. The estimated likelihood is read, and the road indicated by each road ID included in the estimated travel route information in which the estimated likelihood indicating the highest value is recorded is specified as the confirmed past travel route.

FIG. 11 is a second diagram illustrating an outline of the process of the movement route output unit.
In this figure, the travel route output unit 19 records the estimated likelihood of the highest value for the road information identified at the last timing from the estimated travel route information including the travel route outside flag “0”. This is an example in which the estimated travel route information is identified, and each road ID included in the estimated travel route information is identified and output as a road ID indicating a confirmed past travel route. In the example of FIG. 11, the estimated likelihood of the road ID 4 is the highest among the road information identified at the last timing T4. Therefore, the estimated travel route information including the road ID 4 is specified at the timing T4. Then, the travel route output unit 19 identifies the road ID 2, the road ID 4, the road ID 5, and the road ID 4 included in the estimated travel route information as a road ID indicating the confirmed past travel route, and stores it in the confirmed travel route storage unit 20. Record.

  Alternatively, the travel route output unit 19 selects the current travel route candidate from the estimated travel route information including the out-of-travel route flag “0” recorded in the estimated travel route information storage unit 17 at a predetermined number of times before. Among the estimated likelihoods recorded in association with the road IDs of the identified road information, the estimated moving route information that records the highest estimated likelihood is specified, and each road ID included in the estimated moving route information May be output as a determined past movement route.

FIG. 12 is a third diagram illustrating an outline of the process of the movement route output unit.
This figure shows the estimation recorded by the movement route output unit 19 in association with the road ID of the road information specified at a predetermined number of times before from the estimated movement route information including the movement route outside flag “0”. When the estimated travel route information that records the estimated likelihood with the highest value among the likelihoods is specified, and each road ID included in the estimated travel route information is identified and output as a confirmed past travel route An example is shown. In the example of FIG. 12, the estimated travel route information generated so far is recorded in association with the road ID recorded at the timing T3 immediately before the road ID recorded at the last timing T4. The estimated likelihood is included in the estimated travel path information that is read from the estimated travel path information including the out-of-travel-path flag “0” and that has the highest estimated likelihood “0.7” among them. The road ID 1, the road ID 4, and the road ID 4 are identified as a road ID indicating a confirmed past travel route and recorded in the confirmed travel route storage unit 20.

FIG. 13 is a fourth diagram illustrating an outline of the process of the movement route output unit.
The travel route output unit 19 outputs the road ID indicating the confirmed past travel route to the confirmed travel route storage unit 20, and then the last recorded road ID in the estimated travel route information of the output road ID. The connected road recorded in association with the position information closest to the current position among the connected road IDs included in the road information associated with the road ID indicating the newly determined travel route after the output of the road ID If the ID does not match, the output of the road ID indicating the confirmed past movement route may be recalculated.

  That is, as shown in FIG. 13A, it is assumed that the movement route output unit 19 sequentially outputs road ID2, road ID4, and road ID4 as past movement routes determined at timings T1, T2, and T3. In such a situation, the movement route output unit 19 uses the road ID 4 recorded in the estimated movement route information at the end (timing T3) of the road IDs that have already been output, and the movement route newly determined thereafter (timing T4). And the connection road ID included in the information of the road ID 6 having the highest estimated likelihood value. Here, the connection road ID included in the road information of the road ID 6 is only the connection road ID 5 and the connection road ID 7, and does not include the connection road ID 4. Therefore, it can be determined that the road indicated by the road ID 4 and the road indicated by the road ID 6 are not connected. As a result, the movement route output unit 19 indicates the road ID 4 recorded in the estimated movement route information at the end (timing T3) of the road IDs that have already been output, and the movement route newly determined after (timing T4). When the connection road ID included in the information of the road ID 6 having a high estimated likelihood value does not match, it is determined that the confirmed past movement route is recalculated. In this case, the travel route output unit 19 recalculates the road ID that becomes the determined past travel route, as shown in FIG.

  Here, in a general map matching technique, it is sometimes determined that the vehicle is traveling on a road different from the road on which the vehicle is actually traveling due to the accuracy of map matching. However, according to the above-described processing of the movement route identifying device, a road with high accuracy estimated to be traveling is determined based on the estimated likelihood, the road ID obtained by communication from another device, and the like. The road ID of the confirmed road is output as a past movement route. Therefore, it is possible to specify a road indicating a past travel route with higher accuracy than the specification of a road using conventional map matching.

FIG. 14 is a diagram showing an outline of the effect of the movement path specifying device.
FIG. 14A shows a general map matching technique. In the map matching technique, a position is specified based on a received signal from a GPS satellite, and a road that is currently running is specified. However, with the map matching technology, the accuracy is poor and it is determined that the vehicle is traveling on another road that is not connected to the road from the situation where it is determined that the vehicle is traveling on a certain road. May suddenly shift to. In such a case, it is impossible to determine which road actually traveled to reach the road identified as currently traveling. However, as shown in FIG. 14 (b), the movement path specifying device 1 of the present embodiment is such that the road with the road ID 2 determined in the past is connected to the road with the road ID 4 and the road with the road ID 5. The road ID4 and the road ID5 are determined based on the estimated likelihood at the end of driving on the road ID4 or the road ID5 (at the end of driving to the end point) and the road ID read from a signal from another device. Judgment is made on which side of the road. Therefore, as shown in FIG. 14C, each continuous road included in the travel route can be specified with high accuracy.

FIG. 15 is a fifth diagram illustrating an outline of the process of the movement route output unit.
The situation shown in FIG. 15A is an example when there are a plurality of roads that the movement route output unit 19 can determine as past movement routes. For example, as shown in FIG. 15A, a travel route by roads of road ID 2 → road ID 5 → road ID 6 → road ID 8 and a travel route by roads of road ID 2 → road ID 4 → road ID 7 → road ID 8 are considered. If different routes are compared, a different road is identified, and the total distance of the roads is calculated for each travel route. Then, the movement route with the smallest sum of distances may be determined as the past movement route (FIG. 15B). In this way, when charging is performed according to the moving distance, the cheapest charging process can be performed in consideration of user merit. Alternatively, each travel route is compared to identify a different road, and the sum of the billing amount for that road is calculated for each travel route. Then, the travel route with the smallest sum of the charge amount may be determined as the past travel route.

FIG. 16 is a diagram showing an outline of processing during tunnel traveling.
The movement path identification device 1 may stop the past movement path determination process from the tunnel entrance to the tunnel exit. In this case, the next route road information specifying unit 15 detects the road ID indicating the tunnel input by communication or the like at the tunnel entrance and the road ID indicating the tunnel input by communication or the like at the tunnel exit, and determines both road IDs. By detecting, road information including the road ID (tunnel) is output to the estimated movement route information generation unit 16 as road information that becomes a candidate for the next route. Further, the moving route outside determination unit 18 excludes the estimated moving route information in which the road ID other than the road ID of the tunnel is recorded last, and the movement route output unit 19 records the tunnel ID in the tunnel last. A road ID indicating a past movement route is determined from the estimated movement route information.

  In addition, the above-mentioned movement path | route identification apparatus has a computer system inside. Each process described above is stored in a computer-readable recording medium in the form of a program, and the above process is performed by the computer reading and executing the program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

DESCRIPTION OF SYMBOLS 1 ... Movement path | route identification apparatus 2 ... Movement longitude measurement apparatus 3 ... Acceleration sensor 4 ... Gyro sensor 5 ... Vehicle speed signal output device 10 ... Input part 11 ... Communication part 12 ..Map data storage unit 13... Road information identification unit 14... Estimated movement position calculation unit 15... Next route road information identification unit 16. Information storage unit 18... Travel path outside determination unit 19... Travel path output unit 20... Confirmed travel path storage unit 21... Billing request response unit 100.

Claims (14)

Roads included in any estimated travel route information other than the estimated travel route information determined to be the estimated travel route information outside the travel route among the estimated travel route information including the road identification information indicating the estimated travel route in the past A travel route output unit that outputs the identification information of as road identification information indicating a confirmed past travel route,
The movement path | route identification apparatus characterized by the above-mentioned. The travel route output unit is configured to confirm the identification information of the common road continuously included in each estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route. The travel route specifying device according to claim 1, wherein the travel route specifying device outputs the road identification information indicating the past travel route. A road information specifying unit for specifying road information existing at a position within an error range from the current position of the own device as a candidate for the current travel route;
The estimated movement position from one end point closest to the current position on each road of the candidate of the current movement route identified by the road information identification unit based on the movement distance according to the passage of time of the vehicle equipped with the own device An estimated movement position calculation unit that sequentially calculates the time-sequentially,
Road information for which the estimated movement position calculated for the road information specified by the road information specifying unit is the earliest approach to the other end point of the road information is specified, and road information connected to the road indicated by the road information is A next route road information specifying unit for specifying a next route candidate,
The road information identifying unit identifies road information connected to the road information identified by the next route road information identifying unit as the next route candidate from the road information identified as the current travel route candidate, and the road The estimated path information associated with road identification information included in the information and road identification information included in the road information identified by the next path road information specifying unit and the next path candidate specified by the next path road An estimated moving route information generating unit that separately generates all of the road information specified by the information specifying unit as candidates for the next route;
The next route road information specifying unit sets the road information specified as the next route candidate as the current route candidate, the estimated movement position calculating unit, the next route road information specifying unit, and the estimation A movement path information generation unit sequentially performs the processing of the movement path information generation unit, and determines, among the generated estimated movement path information, estimated movement path information with a low possibility of a movement path candidate as estimated movement path information outside the movement path. And
The movement path specifying device according to claim 1 or 2, characterized by comprising: The estimated movement route information generation unit includes at least a position and an extension direction in the real space of the road included in the road information identified as the current movement route candidate, and a position and a traveling direction in the real space detected by the own device. And calculating the estimated likelihood of the road information identified as the current travel route candidate, and the estimated likelihood and the road identification information included in the road information identified as the current travel route candidate. Are recorded in the estimated movement route information in association with each other,
The travel route output unit identifies one estimated travel route information based on the estimated likelihood from each estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route. 4. The movement path specifying device according to claim 3, wherein the identification information of each road included in the estimated movement path information is identified and output as a confirmed past movement path. The travel route output unit is recorded in association with identification information of a recently identified road included in each estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route. Among the estimated likelihoods, the estimated travel route information that records the highest estimated likelihood is identified, and the identification information of each road included in the estimated travel route information is identified as the confirmed past travel route. The movement path specifying device according to claim 4, wherein the movement path specifying device is output. The travel route output unit includes, among the estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route, the road identification information input from another device of the recently identified road. The estimated movement route information to be recorded as identification information is specified, and the identification information of each road included in the estimated movement route information is specified as a confirmed past movement route and output. Item 4. The movement path specifying device according to any one of Items 3 to 4. The travel route output unit may include road information that has been identified as a current travel route candidate a predetermined number of times before each estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route. Among the estimated likelihoods recorded in association with the included road identification information, the estimated movement route information that records the highest estimated likelihood is identified, and each road included in the estimated movement route information is identified. 5. The movement path specifying device according to claim 4, wherein the information is output by specifying a confirmed past movement path. The travel route output unit outputs the identified past travel route and the identified road identification information, and then outputs the road identification information recorded in the estimated travel route information most recently among the output road identification information. And the identification information of the connection road recorded in association with the position information close to the current position among the identification information of the connection road included in the newly specified road information, It is determined that the output of the road identification information indicating the movement route is recalculated. The movement route specifying device according to any one of claims 1 to 7. A processing method of a movement path identification device,
The estimated movement route information other than the estimated movement route information determined by the movement route output unit of the movement route identification device as the estimated movement route information outside the movement route out of the estimated movement route information including the road identification information indicating the estimated movement route in the past. The road identification information included in any one of the estimated movement route information is output as road identification information indicating a confirmed past movement route. The travel route output unit is configured to confirm the identification information of the common road continuously included in each estimated travel route information other than the estimated travel route information determined as the estimated travel route information outside the travel route. The processing method according to claim 9, wherein the road identification information is identified and the road identification information indicating the past movement route is output. A processing method of a movement path identification device,
The road information specifying unit of the moving route specifying device specifies road information existing at a position within an error range from the current position of the own device as a current moving route candidate,
The estimated movement position calculation unit of the movement route identification device is based on the movement distance according to the passage of time of the vehicle equipped with the own device on each road of the candidate of the current movement route identified by the road information identification unit. Calculate the estimated moving position from one end point closest to the current position sequentially over time,
The next route road information specifying unit of the moving route specifying device specifies the road information in which the estimated movement position calculated for the road information specified by the road information specifying unit is closest to the other end point of the road information. The road information connected to the road indicated by the road information is identified as a candidate for the next route,
The estimated travel route information generation unit of the travel route identification device identifies the next route road information identification unit as a next route candidate from the road information identified by the road information identification unit as a current travel route candidate. Identifying road information connected to the road information, road identification information included in the road information, road identification information included in the road information identified by the next route road information specification unit as a next route candidate, and The next movement road information specifying unit separately generates the estimated movement route information associated with each of the road information specified as the next route candidate,
The out-of-movement-path determining unit of the above-mentioned movement path specifying device sets the road information that the next-route road information specifying unit has specified as a next-path candidate as the current-movement-path candidate, and the estimated moving-position calculating unit Then, the next route road information specifying unit and the estimated travel route information generating unit are sequentially processed, and the estimated travel route information that is not likely to be a travel route is generated from the generated estimated travel route information. The processing method according to claim 9 or 10, wherein the information is determined as outside estimated movement route information. The computer of the movement path identification device
Roads included in any estimated travel route information other than the estimated travel route information determined to be the estimated travel route information outside the travel route among the estimated travel route information including the road identification information indicating the estimated travel route in the past A travel route output means for outputting the identification information as road identification information indicating a confirmed past travel route,
A program characterized by functioning as The travel route output means is configured to determine common road identification information continuously included in each estimated travel route information other than the estimated travel route information determined to be estimated travel route information outside the travel route. The program according to claim 12, wherein the identification information of a road indicating the past movement route is output. further,
Road information specifying means for specifying road information existing at a position within an error range from the current position of the own device as a candidate for the current travel route;
Estimated movement position from one end point closest to the current position on each road of the candidate of the current movement route specified by the road information specifying means based on the movement distance according to the passage of time of the vehicle equipped with the own device Estimated moving position calculating means for sequentially calculating as time elapses,
The road information that the estimated movement position calculated for the road information specified by the road information specifying means approaches the other end point of the road information earliest is specified, and the road information connected to the road indicated by the road information is Next route road information specifying means for specifying a next route candidate,
The road information specifying means specifies road information connected to the road information specified by the next route road information specifying means as the next route candidate from the road information specified as the current travel route candidate, and the road The estimated route information obtained by associating the road identification information included in the information with the road identification information included in the road information identified by the next route candidate specified by the next route road information specifying means, Estimated travel route information generating means for generating separately for all the road information identified by the information specifying means as the next route candidate,
The next route road information specifying means sets the road information specified as the next route candidate as the current travel route candidate, and the estimated movement position calculating means, the next route road information specifying means, and the estimation Travel route information generation means sequentially performs processing, and out of the generated travel route information, out of the generated estimated travel route information, the estimated travel route information having a low possibility of a travel route candidate is determined as the estimated travel route information outside the travel route. means,
The program according to claim 12 or 13, wherein the program is made to function as:

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