JP2013160751A - Route search device, server device, route search system, control method, program and memory medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a route search device capable of performing the route search properly reflecting the actual required time, and also to provide a server device which provides information required for the route search device.SOLUTION: In a route search device for searching a route from a departure place to a destination place, the waiting time when a moving body or the like cannot advance toward the advancing direction due to a lighting state of a signal lamp is taken into consideration to calculate the route search result properly reflecting time required during actual traveling by performing the route search by taking into consideration the waiting time based on the lighting state of the signal lamp existing in the route transmitted from a server device.

Description

  The present invention relates to a technique for searching for a route on which a moving body should travel.

  Conventionally, a technique for detecting the color of a signal lamp and utilizing it for navigation is known. For example, Patent Document 1 discloses a technique for detecting a color change of a pedestrian traffic light based on a captured image acquired from a camera that captures the front of the vehicle and calculating a time until the vehicle signal light changes to yellow. It is disclosed. Further, Patent Document 2 acquires signal cycle information related to the position of the traffic signal that the vehicle will pass next and the signal cycle of the traffic signal, and notifies the driver of the vehicle speed necessary to pass without stopping at the traffic signal. Technology is disclosed.

JP 2010-225075 A JP 2011-150598 A

  When searching for the optimum route to the destination specified by the user, it is easy to pass through each road and intersection, such as whether there is traffic jam, road width, number of lanes, right / left turn, number of roads crossing at the intersection and its mode Considering this, we searched for a route with a short time to the destination. However, when actually traveling along a route, the required time to the destination may be greatly affected by waiting for a signal at an intersection or the like.

  The present invention has been made to solve the above-described problems, and is necessary for a route search device capable of performing a route search accurately reflecting the time required for actual traveling and the route search device. The main object is to provide a server device that provides information.

  The invention according to claim 1 is a route search device that searches for a route from a departure place to a destination, and includes search means for searching for the route in consideration of a waiting time based on a lighting state of a signal light. It is characterized by that.

  The invention according to claim 7 is a server device capable of communicating with a terminal that searches for a route from a departure place to a destination, and stores, for each signal light, waiting time information based on the lighting state of the signal light. And transmission means for transmitting the waiting time information to the terminal.

  The invention according to claim 14 is a control method executed by a route search device for searching for a route from a departure place to a destination, and searches for the route in consideration of a waiting time based on a lighting state of a signal light. It has the search process to perform, It is characterized by the above-mentioned.

  The invention according to claim 15 is a program executed by a route search device for searching for a route from a departure place to a destination, and searches for the route in consideration of a waiting time based on a lighting state of a signal light. The route search device is made to function as search means.

1 shows a schematic configuration of a route search system according to an embodiment. (A) shows the data structure of the association information between the link ID and the signal ID, and (B) shows the data structure of the association information between the node ID and the signal ID. The data structure of signal waiting time information DB is shown. The flowchart which shows the process sequence of a comparative example is shown. It is a flowchart which shows the process sequence of the route search process which concerns on an Example. It is a flowchart which shows the procedure of the addition process of link cost. It is a flowchart which shows the procedure of the addition process of turn cost. The schematic structure of the route search system which concerns on a 2nd structural example is shown. The schematic structure of the route search system which concerns on a 3rd structural example is shown. The schematic structure of the route search system which concerns on a 4th structural example is shown. In the signal waiting time information DB, the data structure of the signal waiting time statistical information associated with the signal ID “0” is shown.

  According to a preferred embodiment of the present invention, there is provided a route search device for searching for a route from a departure place to a destination, wherein the search means searches for the route in consideration of a waiting time based on a lighting state of a signal light. Is provided.

  The route search device performs a route search in consideration of a waiting time based on the lighting state of the signal light. As a result, the route search device takes into account the waiting time when a moving body or the like cannot travel in the traveling direction due to the lighting state of the signal light, and obtains a route search result that accurately reflects the time required for actual traveling. Can be calculated.

  In one aspect of the route search device, the search means determines that a road or an intersection corresponding to the signal light having a longer waiting time is less likely to pass through the road or the intersection. Thereby, the route search device can suitably perform a route search in consideration of the waiting time based on the lighting state of the signal light.

  In another aspect of the route search device, the search means searches for the route based on a cost that is an index of ease of passage through the road or intersection, and corresponds to a signal light having a long waiting time. Alternatively, the cost corresponding to the road or the intersection is increased for the intersection. Thereby, the route search device can suitably perform a route search in consideration of the waiting time based on the lighting state of the signal light.

  In another aspect of the route search apparatus, the route search device further includes a required time calculation unit that calculates an estimated value of a required time required for the mobile body to travel on the route searched by the search unit, and the required time calculation unit includes: The estimated value of the required time is calculated in consideration of the waiting time based on the lighting condition of the signal lights existing on the route. In this way, the route search apparatus can make the estimated value of the required time closer to the actual value of the required time when actually traveling.

  In another aspect of the route search device, the route search device further includes receiving means for receiving information on the waiting time necessary for searching the route from a server device that stores a waiting time based on a lighting state for each of the signal lights. By doing in this way, the route search apparatus can acquire waiting time information based on the lighting state of the signal light and can use it for route search.

  In another aspect of the route search device, the route search device is a server device that can communicate with a terminal that outputs a search result of a route from a departure place to a destination, and the search means receives from the terminal. Based on the information of the departure place and the destination, the route is searched, and the searched route information is transmitted to the terminal. In this aspect, the route search device can perform a route search in consideration of the waiting time based on the lighting state of the signal light in response to a request from the terminal, and transmit the result to the terminal.

  According to another preferred embodiment of the present invention, a server device capable of communicating with a terminal that searches for a route from a departure place to a destination, for each signal light, information on waiting time based on the lighting state of the signal light And storage means for transmitting the waiting time information to the terminal.

  The server device stores, for each signal light, waiting time information based on the lighting state of the signal light. Thereby, the server apparatus can suitably provide the waiting time information based on the lighting state of the signal light to the terminal that performs the route search. Therefore, the terminal calculates a route search result that accurately reflects the time required for actual travel, taking into account the waiting time when a moving object or the like cannot travel in the traveling direction due to the lighting condition of the signal light. Can do.

  In one aspect of the server apparatus, the storage unit stores information on the waiting time for each traveling direction of the signal light. Here, specifically, each of the above-described traveling directions corresponds to a straight traveling direction, a left turn direction, and a right turn direction. According to this aspect, the server device can provide the waiting time based on the lighting state of the signal light for each traveling direction of the signal light to the terminal that performs the route search, and accurately reflects the time required for actual traveling. The route search result can be calculated by the terminal.

  In the other one aspect | mode of the said server apparatus, the said memory | storage means memorize | stores the information of the said waiting time for every date or / and time slot | zone with respect to each of the said signal light. In general, depending on the signal light, the waiting time based on the lighting state of the signal light may differ for each date and / or time zone. Even in this case, the server device stores the information on the waiting time of the lighting state for each date and / or time zone, thereby calculating the route search result that accurately reflects the time required for actual travel to the terminal. Can be made.

  In another aspect of the server device, the mobile device is mounted on a moving body traveling on a road, can communicate with a terminal that measures a waiting time based on a lighting state of a signal light on the road, and the terminal measures The apparatus further includes receiving means for receiving waiting time information from the terminal. According to this aspect, the server device can preferably store information on the waiting time based on the lighting state of each signal light.

  According to another preferred embodiment of the present invention, there is provided a route search system comprising a route search device that searches for a route from a departure place to a destination, and a server device that is electrically connected to the route search device. The server device has, for each signal light, storage means for storing waiting time information based on the lighting state of the signal light, and transmission means for transmitting the waiting time information to the route search device. The route searching apparatus includes receiving means for receiving the waiting time information transmitted by the transmitting means, and searching means for searching for the route in consideration of the waiting time.

  The route search system includes a route search device and a server device. The server device has storage means for storing waiting time information based on the lighting state of the signal light for each signal light, and transmitting means for transmitting waiting time information based on the lighting state to the route search device. The route search device includes a reception unit that receives information on a waiting time based on the lighting state transmitted from the server device, and a search unit that performs a route search in consideration of the waiting time. As a result, the route search system takes into account the waiting time when a moving body or the like cannot travel in the traveling direction due to the lighting state of the signal light, and the route search result accurately reflects the time required for actual traveling. Can be calculated.

  In one aspect of the route search system, the mobile phone further comprises a terminal mounted on a mobile body, the terminal measuring a waiting time based on a lighting state with respect to a signal light on the road on which the mobile body is traveling, Transmitting means for transmitting the waiting time information measured by the measuring means to the server device. According to this aspect, the server device can preferably store information on the waiting time based on the lighting state of each signal light.

  In another aspect of the route search system, the terminal is electrically connected to an imaging unit that images the forward direction of the moving body, and the measuring unit is configured to wait for the waiting time based on an image received from the imaging unit. Measure. According to this aspect, the terminal can preferably measure the waiting time information based on the lighting state of each signal light.

  According to another preferred embodiment of the present invention, there is provided a control method executed by a route search device that searches for a route from a departure place to a destination, taking into account the waiting time based on the lighting state of the signal light, and A search step for searching for a route; By using this control method, the route search device takes into account the waiting time when a moving body or the like cannot travel in the traveling direction due to the lighting state of the signal light, and accurately determines the time required for actual traveling. The reflected route search result can be calculated.

  According to another preferred embodiment of the present invention, there is provided a program executed by a route search device for searching for a route from a departure place to a destination, wherein the route is considered in consideration of a waiting time based on a lighting state of a signal light. The route search device is made to function as a search means for searching for. By installing and executing this program, the route search device takes into account the waiting time when a moving object or the like cannot travel in the direction of travel due to the lighting condition of the signal light, and accurately determines the time required for actual traveling. The route search result reflected in the can be calculated. Preferably, the program is stored in a storage medium.

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

[Schematic configuration of the route search system]
FIG. 1 shows a schematic configuration of a route search system according to the present embodiment. As shown in FIG. 1, the route search system includes a navigation device 1 and a server device 2.

(1) Configuration of Navigation Device The navigation device 1 performs a route search to the destination set by the user, and guides the driver to travel on the route specified based on the result of the route search. The navigation device 1 mainly includes a system controller 10, a communication unit 11, a data storage unit 12, a camera 13, a GPS receiver 14, and a communication device 38.

  The communication unit 11 communicates with the server device 2 via a communication network such as the Internet or a predetermined closed network. The communication unit 11 includes a transmission unit 111 and a reception unit 112. The transmitting unit 111 transmits upload information “Iu” including the signal waiting time calculated by the signal waiting time measuring unit 101 of the system controller 10 to the server device 2. Here, the “signal waiting time” refers to a time width during which the vehicle cannot travel in the traveling direction due to the lighting state of the signal light. The upload information Iu will be described in detail in the section [Method for generating signal waiting time statistical information].

  The receiving unit 112 receives information stored in a later-described signal waiting time information database (hereinafter referred to as “DB”) 23 as download information “Id” based on the control of the search unit 102. To do. The receiving unit 112 may further include a VICS receiving unit that acquires information (hereinafter referred to as “VICS information”) distributed from a VICS (Vehicle Information Communication System, registered trademark) center or the like from radio waves. Good. The communication unit 11 may exchange data with the server device 12 via a communication terminal such as an electrically connected mobile phone.

  The data storage unit 12 is configured by, for example, an HDD or the like, and stores various data used for navigation processing such as the map data 120. The map data 120 includes road data represented by links corresponding to roads and nodes corresponding to road connection portions (end points), and facility information such as facility names and location information. Further, the map data 120 includes association information between the above-described link identification information (also referred to as “link ID”) and signal light identification information (also referred to as “signal ID”), and the above-described node identification information ( (Also referred to as “node ID”) and the signal ID are stored.

  2A shows an example of the data structure of the association information between the link ID and the signal ID, and FIG. 2B shows an example of the data structure of the association information between the node ID and the signal ID. When the signal ID is “−1”, it indicates that there is no corresponding signal lamp. As shown in FIG. 2A, from 0 to a plurality of signal IDs are associated with each link ID. Also, as shown in FIG. 2B, each node ID is associated with 0 or 1 signal ID.

  Returning to FIG. 1 again, each component of the navigation device 1 will be described. The camera 13 is installed toward the traveling direction of the vehicle and generates images “Im” taken at predetermined intervals. The camera 13 transmits the generated image Im to the signal waiting time measuring unit 101.

  The GPS receiver 14 receives radio waves carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle (hereinafter also referred to as “current location”) from latitude and longitude information.

  The system controller 10 includes a central processing unit (CPU), a read only memory (ROM), and a random access memory (RAM), and controls the entire navigation device 1. The system controller 10 includes a signal waiting time measurement unit 101 and a search unit 102.

  The signal waiting time measurement unit 101 measures the waiting time based on the lighting state of the signal lamp, that is, the time width during which the signal lamp displays red. In this case, the signal waiting time measuring unit 101 detects the lighting state of the signal lamp based on the image Im taken by the camera 13, and calculates the time width during which red is lit. The processing of the signal waiting time measurement unit 101 will be described in detail in the section [Signal wait information DB generation method].

  When the destination is set, the search unit 102 searches for a route to the destination using the current location detected by the GPS receiver 18 as a departure location. In this case, the search unit 102 searches for a route and calculates an estimated value of the required time to the destination in consideration of the signal waiting time included in the download information Id received from the server device 2. At this time, the search unit 102 calculates a cost that is an index of ease of passage through a road or an intersection for the candidate route, and among the routes from the departure point to the destination that satisfy the conditions specified by the user, Search for the route with the lowest cost. Specific processing of the search unit 102 will be described in detail in the section [Route Search Method].

  In addition to the configuration shown in FIG. 1, the navigation device 1 outputs a self-supporting positioning device such as an acceleration sensor, an angular velocity sensor, and a distance sensor, a display unit that displays a route search result and a calculated required time, voice guidance, and the like. For example, and an input unit for inputting a destination and the like.

(2) Configuration of Server Device Next, the configuration of the server device 2 will be described. The server device 2 is connected to a communication network such as the Internet, and exchanges signal waiting time information with a plurality of navigation devices 1. The server device 2 includes a control unit 20, a transmission unit 21, a reception unit 22, and a signal waiting information database (also simply referred to as “DB”) 23.

  The transmission unit 21 transmits download information Id corresponding to the signal waiting information stored in the signal waiting time information DB 23 to the receiving unit 112 in response to a request from the navigation device 1 based on the control of the control unit 20. The receiving unit 22 receives upload information Iu including information on the signal waiting time calculated by the signal waiting time measuring unit 101 from the transmitting unit 111 of the navigation device 1.

  The control unit 20 includes a CPU, a ROM, and a RAM, and controls the entire server device 2. For example, in response to a request from the navigation device 1, the control unit 20 performs control to transmit the information stored in the signal waiting time information DB 23 to the transmission unit 21, or based on the download information Id received by the reception unit 22. The information in the signal waiting time information DB 23 is updated.

  The signal waiting time information DB 23 stores related information such as a signal waiting time for each signal ID. FIG. 3 shows the data structure of the signal waiting time information DB 23. In FIG. 3, for each signal ID, “signal type”, “link ID”, “node ID”, “left turn average waiting time”, “straight ahead average waiting time”, “right turn average waiting time”, and “additional information” The value of each item is associated. Hereinafter, among these items, the values of the items “left turn average waiting time”, “straight forward average waiting time”, and “right turn average waiting time” are also referred to as “signal waiting time statistical information Is”.

  Here, each item shown in FIG. 3 will be described in order. The item “signal type” indicates the type of the signal lamp. In the case of an arrow-type (with arrow) signal lamp, the direction indicated by the arrow is indicated by parentheses. The item “link ID” in FIG. 3 indicates the link ID associated with the signal ID in the association information shown in FIG. 2A, and the item “node ID” indicates the association shown in FIG. The node ID associated with the signal ID in the information is indicated. Hereinafter, the signal lamp provided at the end point (that is, the node) of the link is referred to as “intersection signal lamp”, and the signal lamp provided at a position other than the end point of the link is also referred to as “in-road signal lamp”.

  For example, according to the example shown in FIG. 3, the signal lamp corresponding to the signal ID “0” is provided at the end of the road corresponding to the link ID “21” at the position corresponding to the node ID “5”. It is an intersection signal light. The signal lamp corresponding to the signal ID “1” is an in-road signal lamp existing on the road corresponding to the link ID “33”. The signal lamp corresponding to the signal ID “2” is an intersection signal lamp provided at a position corresponding to the node ID “20” at the end of the road corresponding to the link ID “10”. The signal light corresponding to “” is an in-road signal light existing on the road corresponding to the link ID “10”.

  The “left turn average waiting time” item is a signal waiting time when making a left turn with a corresponding signal lamp, and indicates the average time measured by the plurality of navigation devices 1 in seconds. Here, “0.0” indicates that there is no road to turn left at the signal light installation point. Similarly, the item “straight ahead average waiting time” is a signal waiting time when the vehicle goes straight with the corresponding signal light, and indicates the average time measured by the plurality of navigation devices 1 in seconds. The item “time” is a signal waiting time when making a left turn with a corresponding signal lamp, and indicates an average of the times measured by the plurality of navigation devices 1 in seconds. The signal waiting time statistical information Is is calculated by the control unit 20 for each signal ID and for each traveling direction of the signal lamp using the upload information Iu received by the receiving unit 22 so far, and the signal waiting time information DB 23. Information stored in. In addition, when calculating each signal waiting time statistical information Is, the control part 20 may limit and calculate the signal waiting time used as calculation object, such as excluding an outlier.

  The item “additional information” indicates additional information depending on the waiting time in addition to the above-described items. For example, the additional information corresponds to a time width during which blue lights up, a signal cycle, and the like.

  In addition, the signal ID of the signal lamp in the road corresponding to the node ID “−1” may store information on the waiting time in the forward direction and the reverse direction depending on the traveling direction.

[How to generate signal latency statistics]
Next, a specific example of a method for generating the signal waiting time statistical information Is stored in the items of “left turn average waiting time”, “straight ahead average waiting time”, and “right turn average waiting time” of the signal waiting time information DB 23 will be described. .

  First, the specific example of the process which the signal waiting time measurement part 101 of the navigation apparatus 1 performs at the time of driving | running | working of a vehicle is shown. The signal waiting time measurement unit 101 detects a signal lamp from images Im received from the camera 13 at predetermined intervals. When the signal lamp is detected, the signal waiting time measuring unit 101 detects the signal color that is lit among the signal colors of the signal lamp based on a known image processing technique, and the presence / absence of an arrow signal and the arrow signal. The lighting state of is detected. Thereby, the signal waiting time measuring unit 101 determines whether or not the signal lamp outputs a stop instruction signal in the traveling direction corresponding to the planned travel route. Then, when the signal lamp outputs a stop instruction signal in the traveling direction corresponding to the planned travel route, the signal waiting time measurement unit 101 performs the stop based on the change in the image Im in time series. Measure the time until the instruction is released. Then, the signal waiting time measuring unit 101 detects the reference time based on the current location recognized by the GPS receiver 14 and the map data 120 storing the position of each signal light based on the vehicle orientation recognized by a self-supporting positioning device or the like. The signal ID of the signal lamp is recognized. Then, the signal waiting time measuring unit 101 sends the upload information Iu including the recognized signal ID, the traveling direction of the vehicle with the signal lamp corresponding to the signal ID, and the measured signal waiting time to the server device by the transmitting unit 111. 2 to send.

  Next, a process executed after the server apparatus 2 receives the upload information Iu will be described. When the receiving unit 22 receives the upload information Iu, the control unit 20 specifies a signal ID for updating the signal waiting time statistical information Is based on the signal ID included in the upload information Iu. Furthermore, the control unit 20 determines, based on the traveling direction included in the upload information Iu, among the items of “left turn average waiting time”, “straight ahead average waiting time”, and “right turn average waiting time” of the identified signal ID, Determine which items should be updated. Then, the control unit 20 reflects the signal waiting time included in the received upload information Iu on the signal waiting time statistical information Is corresponding to the item to be updated. For example, in this case, the control unit 20 recalculates the average value of the corresponding item by storing all the signal waiting times received in the past in the memory.

[Route search method]
Next, details of processing executed by the search unit 102 of the navigation device 1 will be described. Schematically, the search unit 102 searches for a route from the departure point to the destination in consideration of the signal waiting time statistical information Is acquired from the server device 2. At this time, the search unit 102 determines that the longer the time width indicated by the signal waiting time statistical information Is, the more difficult it is to pass through the target signal light, and the cost of the road or intersection where the signal light is installed is set higher. By doing in this way, the search part 102 considers signal waiting time, and performs the exact route search which simulated the actual driving | running | working correctly, and the calculation of required time.

  In the following, first, the processing procedure according to the comparative example not considering the signal waiting time statistical information Is will be described with reference to FIG. 4, and then the processing procedure according to the present embodiment considering the signal waiting time statistical information Is is shown in FIG. This will be described with reference to FIG. In the following, as an example, a case will be described where a route search condition is not specified and a route with the shortest required time is searched.

(1) Processing Flow According to Comparative Example FIG. 4 is a flowchart illustrating a processing procedure of the search unit 102 according to the comparative example. The search unit 102 executes the process of the flowchart shown in FIG. 4 when the user inputs a destination. Note that the flowchart according to the comparative example differs from the flowchart according to the embodiment in the processing within the broken line frame 90.

  First, the search unit 102 sets a departure place and a destination (step S101). Specifically, the search unit 102 sets a location designated by the user as a destination and sets the current location as a departure location. Next, the search part 102 adds the initial link nearest to the departure place to a search candidate (step S102).

  Then, the search unit 102 selects a link Lo that minimizes the cost from the search candidate links (step S103). Specifically, the search unit 102 determines the initial link as the link Lo immediately after the execution of step S102, and after the execution of step S109, the link Lo that minimizes the total cost calculated in step S107 described later. Is selected. Further, the search unit 102 sets a total cost “ToC_Lo” from the departure place to the link Lo (step S103). Specifically, the search unit 102 sets the total cost ToC_Lo as the link cost of the link Lo when the link Lo is an initial link, and otherwise sets the total cost ToC_Lo at step S107. Set to the total cost corresponding to Lo. The link cost will be described in step S105.

  Next, the search unit 102 identifies all the links Mi connected to the link Lo (step S104). Here, the index “i” of the link Mi indicates an arbitrary number from 1 to n, and “n” indicates the number of links connected to the link Lo. Then, the search unit 102 executes the processing from step S105 to step S108 for all links Mi.

  First, the search unit 102 calculates a link cost “LC_Mi” corresponding to the time required for the vehicle to pass through the road corresponding to the i-th link Mi (step S105). At this time, the search unit 102 calculates the link cost LC_Mi in consideration of, for example, the presence or absence of traffic congestion based on the length of the corresponding road, the road width, VICS information, and the like. Note that the cost corresponding to the time required for the vehicle to pass through the intersection is not included in the link cost LC_Mi, and is calculated in step S106 described later. The link cost LC_Mi described above is an example of the “cost corresponding to the road” in the present invention.

  Next, the search unit 102 calculates a turn cost “TuC_Mi” corresponding to the time required to reach the i-th link Mi from the link Lo (step S106). In other words, the search unit 102 calculates the turn cost TuC_Mi corresponding to the time required to pass through the intersection connecting these roads when the road corresponding to the link Lo transitions from the road corresponding to the link Lo. To do. At this time, the search unit 102 calculates the turn cost TuC_Mi in consideration of, for example, whether or not a right / left turn is necessary and whether the intersection is a T-shaped road or the like. The above-described turn cost TuC_Mi is an example of “cost corresponding to an intersection” in the present invention.

  Next, the search unit 102 calculates the total cost “ToC_Mi” from the departure place to the link Mi (step S107). Specifically, the search unit 102 sets the sum of the total cost ToC_Lo, the link cost LC_Mi, and the turn cost TuC_Mi as the total cost ToC_Mi. Then, the search unit 102 adds the link connected to the link Mi to the search candidate (step S108).

  Then, the search unit 102 determines whether or not the processing from step S105 to step S108 has been executed for all the links Mi (step S109). If the search unit 102 determines that the processing from step S105 to step S108 has been executed for all links Mi (step S109; Yes), the processing proceeds to step S110. On the other hand, if the search unit 102 determines that the processing from step S105 to step S108 has not been executed for all links Mi (step S109; No), the processing returns to step S105.

  Next, in step S110, the search unit 102 determines whether or not the destination has been reached (step S110). In other words, the search unit 102 determines whether or not the destination is adjacent to any of the links Mi that have been processed from step S105 to step S108. And when the search part 102 judges that it reached | attained to the destination (step S110; Yes), the process of a flowchart is complete | finished. In this case, the search unit 102 outputs a route connecting the departure point to the link Mi adjacent to the destination, that is, a route with the minimum total cost, by voice or image. The search unit 102 converts the total cost ToC_Mi corresponding to the link Mi adjacent to the destination into the required time using a predetermined formula or map, and outputs the required time to the destination by voice or image. To do.

(2) Processing Flow According to Embodiment FIG. 5 is a flowchart illustrating a processing procedure of route search processing according to the present embodiment. The search unit 102 executes the process shown in FIG. 5 when a destination is set.

  First, the search part 102 performs the process of step S201 thru | or step S204 similarly to step S101 thru | or step S104. Then, similarly to step S105, the search unit 102 calculates the link cost LC_Mi of the link Mi in step S205, and then performs an addition process of the link cost LC_Mi based on the signal waiting time statistical information Is (step S205A). In other words, the search part 102 adds the cost equivalent to the signal waiting time in the signal lamp in the road provided in the road corresponding to the said link Mi with respect to link cost LC_Mi of the link Mi calculated by step S205. Thereby, the search part 102 determines link cost LC_Mi which considered the signal waiting time. A specific example of this process will be described later with reference to FIG.

  Next, as in step S106, the search unit 102 calculates a turn cost TuC_Mi corresponding to the time required to reach the i-th link Mi (step S206). Then, the search part 102 performs the addition process of turn cost TuC_Mi based on the signal waiting time statistical information Is (step S206A). In other words, the search unit 102 adds to the turn cost TuC_Mi of the link Mi calculated in step S206 a cost corresponding to the signal waiting time at the intersection signal light when the vehicle approaches the road corresponding to the link Mi. . Thereby, the search part 102 determines the turn cost TuC_Mi which considered the signal waiting time. A specific example of this process will be described later with reference to FIG.

  Then, similarly to steps S107 to 110, the search unit 102 performs the processing of steps S207 to S210 and recognizes a route connecting from the departure point to the link Mi adjacent to the destination. Further, the search unit 102 converts the total cost ToC_Mi corresponding to the link Mi adjacent to the destination into an estimated value of the required time with reference to a predetermined formula or map. In this case, the cost corresponding to the signal waiting time is added to the above-mentioned total cost ToC_Mi in step S205A and step S206A. Therefore, the estimated value of the required time calculated by the search unit 102 is a time that takes into account the signal waiting time at the signal lamps existing on the searched route.

  Thus, by executing the flowchart shown in FIG. 5, the navigation device 1 searches for a route in consideration of the signal waiting time, and approximates the estimated value of the required time when traveling along the route to the actual value. The value can be determined.

(2-1) Link Cost LC_Mi Addition Process FIG. 6 is a flowchart showing details of the process in step S205A of the flowchart shown in FIG.

  First, the search unit 102 acquires information on the on-road signal lamp “Sd” present on the link Mi from the signal waiting information DB (step S301). Here, the index “d” indicates a value from 1 to m, and “m” indicates the number of signal lights in the road existing on the link Mi. For example, the search unit 102 first recognizes the signal light related to the link Mi with reference to the association information between the link ID and the signal ID shown in FIG. 3A, and then uses the recognized signal light information to the server device. 2 is acquired from the signal waiting time information DB 23 stored in the memory. And the search part 102 determines the signal lamp in which node ID is "-1" among the signal lights relevant to link Mi to the signal lamp Sd in a road.

  Next, the search unit 102 converts the straight average waiting time for each road signal lamp Sd into a cost, and adds the cost “C_Sd” (d = 1 to m) to the link cost LC_Mi (step S302). Specifically, the search unit 102 extracts the straight traveling average waiting time from the information on the in-road signal lamp Sd acquired from the signal waiting time information DB 23, and sets the straight traveling average waiting time of each in-road signal lamp Sd to the cost C_Sd. Convert. Then, the search unit 102 adds each cost C_Sd to the link cost LC_Mi. As a result, the search unit 102 can determine an appropriate link cost LC_Mi in consideration of the signal waiting time at the signal lamp in the road.

(2-2) Turn Cost TuC_Mi Addition Process FIG. 7 is a flowchart showing details of the process in step S206A of the flowchart shown in FIG.

  First, the search part 102 acquires the information of the intersection signal lamp “Scrs” provided at the intersection from the link L0 to the link Mi from the signal waiting time information DB 23 (step S401). Specifically, the search unit 102 first recognizes the signal lamp related to the link Mi with reference to the association information between the link ID and the signal ID shown in FIG. Obtained from the signal waiting time information DB 23 stored in the server device 2. And the search part 102 determines the signal light which node ID is other than "-1" among the signal lights relevant to link Mi to the intersection signal light Scrs.

  Next, when the search unit 102 reaches the link Mi from the link LO, the search unit 102 determines whether or not the vehicle goes straight at the intersection (step S402). In other words, the search unit 102 determines whether or not the road corresponding to the link Mi is connected in series to the road corresponding to the link LO. Then, when the vehicle goes straight from the link LO to the link Mi, if the vehicle goes straight at the intersection (step S402; Yes), the search unit 102 adds a cost corresponding to the average straight waiting time of the intersection signal light Scrs to the turn cost TuC_Mi. (Step S403). On the other hand, when the vehicle does not go straight at the intersection when the link LO approaches the link Mi (step S402; No), the search unit 102 determines whether or not the vehicle turns right at the intersection when the link LO reaches the link Mi. Determination is made (step S404). When the vehicle turns to the link Mi from the link LO and turns right at the intersection (step S404; Yes), the search unit 102 adds a cost corresponding to the average right turn waiting time of the intersection signal light Scrs to the turn cost TuC_Mi. (Step S405). On the other hand, when the vehicle does not turn right at the intersection when the link LO is approached to the link Mi (step S404; No), in other words, when the vehicle approaches the link Mi from the link LO, the search unit 102 turns left at the intersection. The cost corresponding to the average left turn waiting time of the intersection signal lamp Scrs is added to the turn cost TuC_Mi (step S406). By doing in this way, it becomes possible for the search part 102 to determine appropriate turn cost TuC_Mi which considered the signal waiting time in the intersection signal light Scrs.

[Modification]
Hereinafter, each modification of the embodiment will be described. These modifications may be applied in combination to the above-described embodiments.

(Modification 1)
The configuration of the route search system applicable to the present invention is not limited to the configuration (first configuration example) of the route search system shown in FIG. Here, other configuration examples (second configuration example to fourth configuration example) will be specifically described with reference to FIGS. 8 to 10. In the following description, the same components as those in the first configuration example are denoted by the same reference numerals, and the description thereof is omitted as appropriate.

  FIG. 8 shows a schematic configuration of the route search system according to the second configuration example. As shown in FIG. 8, in the route search system according to the second configuration example, the control unit 20 of the server device 2A has a search unit 102A corresponding to the search unit 102 shown in FIG. 1, and responds to a request from the navigation device 1A. Route search. For example, when the search unit 102A of the server device 2A receives a route search execution request signal including information on the departure point and destination from the navigation device 1A, the search unit 102A refers to the signal waiting time information DB 23, and FIG. 7 is executed. Then, the search unit 102A transmits the route search result to the navigation device 1 as download information Id. Thereby, even if it is a 2nd structural example, the navigation apparatus 1 can obtain the route search result which considered the signal waiting time suitably.

  FIG. 9 shows a schematic configuration of the route search system according to the third configuration example. As shown in FIG. 9, the route search system according to the third configuration example includes only the navigation device 2B, and the navigation device 2B stores the signal waiting time information DB 23A in the data storage unit 12A. The data storage unit 12A may store the signal waiting time information DB 23A in advance, or may acquire a part or all of the information constituting the signal waiting time information DB 23A from a server device on a network such as the Internet. In the third configuration example, as in the first configuration example, when the destination is set, the search unit 102 refers to the signal waiting time information DB 23A and executes the processes in the flowcharts of FIGS. . Thereby, even if it is a 3rd structural example, the navigation apparatus 1 can obtain the route search result which considered the signal waiting time suitably.

  FIG. 10 shows a schematic configuration of the route search system according to the fourth configuration example. As illustrated in FIG. 10, the route search system according to the fourth configuration example performs route search in response to a request from the navigation device 1 </ b> C that transmits the upload information Iu including the measured signal waiting time to the server device 2 </ b> C and the computer device 3. And a computer device 3 such as a personal computer or a mobile terminal electrically connected to the server device 2C.

  In this case, based on the user input information detected by the input unit 33, the computer device 3 transmits a route search execution request signal “Ir” including information on the departure point and the destination to the server device 2C. In the server device 2C, when the receiving unit 22 receives the signal Ir, the searching unit 102C refers to the signal waiting time information DB 23 and performs a route search by executing the processes of the flowcharts of FIGS. Then, the search unit 102C transmits the route search result to the computer apparatus 3 as download information Id. And the output part 32 of the computer apparatus 3 outputs a route search result with an audio | voice or an image based on the received download information Id. Thus, even a computer device other than a navigation device that guides a moving body such as a vehicle can preferably acquire and output a route search result in consideration of signal waiting time from the server device 2C.

(Modification 2)
The data structure of the signal waiting time information DB 23 shown in FIG. 3 is an example, and the structure to which the present invention is applicable is not limited to this. Instead of this, the signal waiting time information DB 23 may store signal waiting time statistical information Is further subdivided for each date and / or time period for each signal ID. This will be specifically described with reference to FIG.

  FIG. 11 shows the data structure of the signal waiting time statistical information Is associated with the signal ID “0” in the signal waiting time information DB 23. In addition to the items shown in FIG. 11, each signal ID includes the values of the items “signal type”, “link ID”, “node ID”, and “additional information”, as in the example shown in FIG. Is associated.

  As shown in FIG. 11, for each signal ID, for each date and time zone, signal waiting time statistics corresponding to the items of “left turn average waiting time”, “straight forward average waiting time” and “right turn average waiting time” Information Is is associated. In FIG. 11, the signal waiting time statistical information Is is associated with the morning, noon, evening, and night time zones on January 1 and the morning time zone on January 2. Thus, the signal waiting time information DB 23 stores the signal waiting time statistical information Is for every date and time zone. In this case, in step S301 in FIG. 6, the search unit 102 further refers to the current date and the current time, and acquires the signal waiting time statistical information Is of the signal Sd existing in the link Mi from the signal waiting time information DB23. Similarly, in step S401 in FIG. 7, the search unit 102 further refers to the current date and current time, and from the signal waiting time information DB 23, the signal waiting time statistics of the signal Scrs at the intersection reaching the link Mi from the link LO. Information Is is acquired. Thus, the search unit 102 can perform an appropriate route search based on a more accurate signal waiting time according to the date and time.

(Modification 3)
In the description of the embodiment, the server apparatus 2C constructs the signal waiting time information DB 23 using the upload information Iu including the signal waiting time calculated by the signal waiting time measuring unit 101 based on the image Im. However, the construction method of the signal waiting time information DB 23 to which the present invention is applicable is not limited to this. For example, the signal waiting time information DB 23 may be configured based on information on the signal waiting time of each signal lamp that is artificially measured and input to the server device 2.

(Modification 4)
In the description of FIG. 1, the receiving unit 112 receives the information of the signal waiting time information DB 23 held by the server device 2 in advance instead of receiving the information of the signal waiting time information DB 23 in response to the request of the search unit 102. May be. In this case, the receiving unit 112 stores the information of the signal waiting time information DB 23 in the data storage unit 12, and the searching unit 102 replaces the signal waiting time information DB 23 in step S301 of FIG. 6 and step S401 of FIG. Necessary information is acquired from the data storage unit 12.

  The present invention can be suitably applied to an in-vehicle navigation device, a PND (Personal Navigation Device), a server device existing on a network, and a terminal connectable to the server device.

1, 1A, 1B, 1C Navigation device 2, 2C Server device 3 Computer device 10 System controller 11 Communication device 12 Data storage unit 13 Camera 14 GPS receiver 20 Controller 21 Transmitter 22 Receiver 23 Signal waiting time information DB

Claims (16)

A route search device for searching for a route from a starting point to a destination,
A route search apparatus comprising: search means for searching for the route in consideration of a waiting time based on a lighting state of a signal light.   The route search device according to claim 1, wherein the search unit determines that a road or an intersection corresponding to the signal light having a long waiting time is less likely to pass through the road or the intersection. The search means searches for the route based on a cost that is an index of ease of passage of the road or intersection,
The route search device according to claim 2, wherein the cost corresponding to the road or the intersection is increased as the road or the intersection corresponding to the signal light having a longer waiting time. A required time calculating means for calculating an estimated value of the required time required for the mobile body to travel on the route searched by the search means;
The said required time calculation means calculates the estimated value of the said required time in consideration of the waiting time based on the lighting condition in the signal lamp which exists on the said path | route. The route search device according to item.   5. The receiving apparatus according to claim 1, further comprising: a receiving unit configured to receive information on the waiting time necessary for searching for the route from a server device that stores a waiting time based on a lighting state for each of the signal lights. The route search device according to claim 1. The route search device is a server device that can communicate with a terminal that outputs a search result of a route from a departure place to a destination,
5. The search unit according to claim 1, wherein the search unit searches for the route based on information of a departure place and a destination received from the terminal, and transmits the searched route information to the terminal. The route search device according to claim 1. A server device capable of communicating with a terminal that searches for a route from a departure place to a destination,
For each signal lamp, storage means for storing waiting time information based on the lighting state of the signal lamp;
Transmitting means for transmitting the waiting time information to the terminal;
A server device comprising:   The server device according to claim 7, wherein the storage unit stores information on the waiting time with respect to each traveling direction of the signal light.   The server device according to claim 7 or 8, wherein the storage unit stores the waiting time information for each date lamp and / or time period for each of the signal lights. It is mounted on a moving body traveling on a road and can communicate with a terminal that measures the waiting time based on the lighting state of a signal light on the road.
The server device according to any one of claims 7 to 9, further comprising receiving means for receiving information on the waiting time measured by the terminal from the terminal. A route search device that searches for a route from the departure point to the destination;
A route search system comprising a server device electrically connected to the route search device,
The server device
For each signal lamp, storage means for storing waiting time information based on the lighting state of the signal lamp;
Transmission means for transmitting the waiting time information to the route search device,
The route search device
Receiving means for receiving the waiting time information transmitted by the transmitting means;
Search means for searching for the route in consideration of the waiting time;
A route search system comprising: It is further equipped with a terminal mounted on the mobile body,
The terminal
Measuring means for measuring a waiting time based on a lighting state for a signal light on a road on which the moving body is traveling;
Transmitting means for transmitting the waiting time information measured by the measuring means to the server device;
The route search system according to claim 11, comprising: The terminal is electrically connected to a photographing means for photographing a forward direction of the moving body;
The route search system according to claim 12, wherein the measuring unit measures the waiting time based on an image received from the photographing unit. A control method executed by a route search device that searches for a route from a starting point to a destination,
A control method comprising a search step of searching for the route in consideration of a waiting time based on a lighting state of a signal light. A program executed by a route search device that searches for a route from a departure place to a destination,
A program for causing the route search apparatus to function as search means for searching for the route in consideration of a waiting time based on a lighting state of a signal light.   A storage medium storing the program according to claim 15.

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