JP2014122859A - Road information collection device and road information collection program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce transmission data amounts by transmitting appropriate road information to a server.SOLUTION: In the road information collecting device including an imaging device which photographs an image in front of a vehicle for imaging a road during vehicle traveling, a road during current traveling is detected by map matching. When there does not exist any road enabling matching, it is determined that the road during traveling is a newly constructed road or a changed update candidate road. When it is determined that the road during traveling is the update candidate road, the detection of right and left boarder lines or the recognition of road width is performed from the pickup image such that it is determined whether or not the road satisfies a collection road reference (predetermined reference). The road information of the road satisfying the collection road reference is transmitted to a server. When the right and left board lines are detectable, and at least one or more of the case where the right and left boarder lines are broken lines, the case where the board line at the right side of a traveling direction is a color indicating no-passing, and the case where the road width is equal to or more than a predetermined threshold is satisfied, it is determined that the road satisfies the road collection reference, and the collected road information is transmitted as probe data to the server.

Description

  The present invention relates to a road information collecting apparatus and a road information collecting program, and relates to, for example, a device that is mounted on a vehicle and collects road information and transmits it to a predetermined server.

2. Description of the Related Art Vehicles equipped with a navigation device that displays the current position of a vehicle on an image-displayed map or guides a travel route to a destination are widely used. In this navigation apparatus, since the current position on the map is detected using the map database and the travel route is guided, it is important to update the map database in order to cope with a new road or a changed road.
As a system for efficiently updating this map database, there is a road information collection system that collects road information from a probe car. For example, there is a traffic information system described in Patent Document 1.
In this road information collection system, a plurality of vehicles functioning as probe cars transmit travel information to the server, so that the server creates new road and changed road data from the collected travel information and updates the map database. At the same time, the updated data is provided to each vehicle.

However, since the conventional probe car probes all travel information, there is a problem that the amount of communication and the amount of storage are enormous and the cost is increased.
The travel information transmitted from the probe car is transmitted without distinction including narrow streets including living roads, but such roads are not suitable as roads for guiding other vehicles.

JP 2006-251941 A

  An object of the present invention is to reduce the amount of transmission data by transmitting appropriate road information to a server.

(1) In the invention described in claim 1, a road information transmission device that is mounted on a vehicle and transmits collected road information to a predetermined server, road image acquisition means for acquiring an image of a running road; Update candidate determination means for determining whether or not the road being traveled is a new or changed update candidate road, and if it is determined as the update candidate road, travel from a road image captured for the road being traveled When the left and right boundary lines inside can be detected, reference determination means for determining whether or not the traveling road satisfies a predetermined criterion, and road information about the road determined to satisfy the predetermined criterion, A road information collection device comprising: a transmission means for transmitting to a server.
(2) In the invention described in claim 2, the reference determining means determines that the predetermined criterion is satisfied when either of the left and right boundary lines is a broken line. A road information collection device is provided.
(3) In the invention according to claim 3, the reference determining means determines that the predetermined criterion is satisfied when the boundary line on the right side in the traveling direction is a boundary line of a color indicating prohibition of overtaking. The road information collecting device according to claim 1 or claim 2 is provided.
(4) In the invention described in claim 4, the reference determining means determines that the predetermined criterion is satisfied when the road width is equal to or greater than a predetermined threshold value. A road information collection device is provided.
(5) In the invention according to claim 5, the reference judging means can detect the left and right boundary lines, (a) one of the left and right boundary lines is a broken line, and (b) the right boundary line is yellow. The road information collection device according to claim 1, wherein (c) the road width is determined to satisfy the predetermined criterion when satisfying any one of the threshold values or more. .
(6) In the invention described in claim 6, a road information transmission program for causing a computer mounted on a vehicle to transmit collected road information to a predetermined server, and for obtaining an image of a road that is running An image acquisition function, an update candidate determination function for determining whether or not the running road is a newly established or changed update candidate road, and when the update candidate road is determined, an image is taken of the running road When a boundary line between the left and right sides can be detected from the road image, a reference judgment function for judging whether or not the running road satisfies a predetermined standard, and a road for a road determined to satisfy the predetermined standard A road information collection program for causing a computer to perform a transmission function of transmitting information to the predetermined server is provided.

  According to the present invention, the left and right boundary lines during traveling can be detected, and road information is transmitted to a predetermined server when a predetermined standard is satisfied. Therefore, appropriate road information can be transmitted, and the amount of transmission data can be reduced. Can be reduced.

This shows the system configuration of the road information collection system. 1 is a system configuration diagram of a navigation device that functions as a road information collection device of the present embodiment. This shows the hardware configuration of the server. It is a functional block diagram of the information processing control apparatus in a navigation apparatus and a server. It is a flowchart showing the content of the road information collection process performed with a navigation apparatus. It is a flow chart showing the contents of collection road standard judgment processing which judges whether an update candidate road meets collection road standard. It is a flowchart showing the content of the road information collection / update process by a server.

Hereinafter, preferred embodiments of the road information collection apparatus and the road information collection program of the present invention will be described in detail with reference to FIGS.
(1) Outline of Embodiment The road information collection device and the road information collection program of this embodiment are realized as a navigation device mounted on a vehicle. The navigation device includes an imaging device that captures an image in front of the vehicle, and images a road while the vehicle is traveling.
On the other hand, the navigation device detects the current location of the vehicle, and detects the road that is currently running by map matching. At this time, if no matching road exists, it is determined that the traveling road is a new road or a modified update candidate road.
When it is determined that the road is a candidate for renewal, it is determined whether the road satisfies the collection road standard (predetermined standard) by detecting the left and right boundary lines and recognizing the road width from the captured image. Send road information to the server.
The collection road standard is defined from the viewpoint of whether or not the road is appropriate for guiding the vehicle (subject to route guidance), and it is not preferable to share it with narrow streets such as residential roads or unspecified number of people. It is based on whether it is a road. Specifically, when the boundary line of the update candidate road cannot be recognized, even if the boundary line can be recognized, if the road width is less than a predetermined threshold (for example, 5.5 m), it is determined that the collection road standard is not satisfied. .
On the other hand, when the left and right boundary lines can be detected and the left and right boundary lines are broken lines, when the boundary line on the right side in the traveling direction is a color indicating prohibition of overtaking, at least one when the road width is equal to or greater than a predetermined threshold If it meets the criteria, it is judged that the collection road standard is satisfied.
If it is determined that the collection road standard is satisfied, the road information collected for the update candidate road is transmitted to the server as probe data.

  As described above, update candidate roads determined not to satisfy the collection road standard for roads determined to be update candidate roads are not transmitted to the server as probe data, and are therefore preferably shared by an unspecified number of residential roads. No roads can be omitted from the transmission target in advance. In addition, the amount of transmission data can be reduced.

(2) Details of Embodiment FIG. 1 shows a system configuration of a road information collection system to which a road information collection device to which the present embodiment is applied is applied.
As shown in FIG. 1, the road information collection system includes a plurality of vehicles 100 equipped with a navigation device 1, a network 60, and a server 70.
There are a plurality of vehicles 100, 100,... (Hereinafter referred to as vehicles 100), and each vehicle 100 is equipped with a navigation device 1 that functions as the road information collection device of the present embodiment. The navigation device 1 performs data communication with the server 70 via the network 60 by wireless communication using a communication module.
The network 60 is a communication network configured by a mobile phone network, the Internet, and the like, and can communicate with the server 70.

  The server 70 includes a detailed map database, updates the map data, road information, and the like in a timely manner, and transmits the latest road information (all or updated portions) to each navigation device 1. In other words, the server 70 sequentially accumulates travel data for each update candidate data transmitted from each navigation device 1, creates road update data by aggregating the accumulated travel data, and updates road information in the map database. At the same time, transmission to each navigation device 1 (data sharing) is performed.

FIG. 2 is a system configuration diagram of the navigation device 1 that functions as the road information collection device of the present embodiment.
The navigation device 1 is mounted on a vehicle 100 and includes a current position detection device 10, an imaging device 15, an information processing control device 20, an input / output device 40, and an information storage device 50.

The current position detection device 10 includes an orientation sensor 12, a distance sensor 13, and a GPS (global positioning system) receiver 14 as devices for detecting the current location of the vehicle 100.
The azimuth sensor 12 is a means for detecting an angle that has changed relative to a reference angle (absolute azimuth). In this embodiment, a gyro sensor that detects a change in angle using an angular velocity is used. Yes. Note that an optical rotation sensor attached to the rotating part of the handle, a rotary resistance volume, or an angle sensor attached to the wheel part may be used.
The distance sensor 13 is a means that can measure the moving distance of the vehicle, and for example, a sensor that detects and counts the rotation of a wheel or a sensor that detects acceleration and integrates it twice.
The azimuth sensor 12 and the distance sensor 13 are used for calculating the estimated trajectory of the vehicle, and the calculated estimated trajectory is used for detecting the current location in map matching. In addition, the trajectory shape based on the estimated trajectory is collected by travel data (road information) and roads. If the road standard is satisfied, it becomes the target of the probe.

The GPS receiver 14 is a device that receives a signal from an artificial satellite, and can obtain various information such as a signal transmission time, position information of the receiving device, a moving speed of the receiving device, and a traveling direction of the receiving device.
The current position of the vehicle 100 is specified from the position information of the receiving device received by the GPS receiver 14, and is used to specify the current position on the map by map matching.

The imaging device 15 is disposed in front of the vehicle 100 and images a road ahead of the vehicle. The image to be captured may be either a still image or a moving image.
The road image picked up by the image pickup device 15 is used to determine whether or not the traveling road satisfies the collection road criterion.
The imaging device 15 always supplies a road image to the information processing control device 20. That is, a continuous road image is supplied to the information processing control device 20 by continuously shooting a moving image and capturing a still image every predetermined time.

  The information processing control device 20 performs calculation and control based on information input from the current position detection device 10, the imaging device 15, and the input / output device 40 and information stored in the information storage device 50, and displays the calculation result. 42 or a means for controlling to output to an output means such as a speaker 44.

The information processing control device 20 is configured as follows.
The central processing unit (CPU) 21 performs overall calculation and control of the entire navigation device.
The ROM 22 stores various programs related to navigation functions such as current value detection, map matching processing, route search to a destination, display guidance and voice guidance, and a road information collection program according to the present embodiment. Yes.
These programs may be stored in the information storage unit 50. In particular, the road information collection function according to the present embodiment is stored in the ROM 22 when initially installed in the navigation device 1, but is stored in the information storage device 50 as the road information collection program 51 when installed later. The
The sensor input interface 23 is a means for receiving information from the current position detection device 10.

The RAM 24 stores information input by the user such as destination information and passage point information input by the input device 41, and results calculated by the CPU 21 based on the user input information and route search It is a storage means for storing the map result read or the map information read from the information storage device 50.
In the road information collection processing according to the present embodiment, the RAM 24 stores road information (travel data including a trajectory shape) about roads that satisfy the collected road criteria.

The communication interface 25 is means for inputting / outputting various information via the transmission path 45. Specifically, the GPS receiver 14, the imaging device 15, the input device 41, and the information storage device 50 are connected via the transmission path 45.
The communication module 26 is means for connecting to a network 60 such as the Internet by wireless communication, and transmits road information (travel data) stored in the RAM 24 to the server 70 via the network 60.

  In addition, an image processor dedicated to image processing for processing vector information processed by the CPU 21 into image information, an image memory for storing image information processed by the image processor, and audio information read from the information storage device 50 are processed. However, a voice processor dedicated to voice processing to be output to the speaker 43 may be provided.

The input / output device 40 includes an input device 41 for inputting data such as a destination, a passage point, and a search condition by a user, a display 42 for displaying an image, and a speaker 43 for outputting sound.
The input device 41 includes, for example, a touch panel, a touch switch, a joystick, a key switch, and the like.
The display 42 displays a map around the current location and a travel route to the destination.

The information storage device 50 is connected to the information processing control device 20 via the transmission path 45.
The information storage device 50 stores a road information collection program 51, a map DB 52, and other data files 53.
The information storage device 50 is generally composed of a hard disk that is a magnetic storage medium or a DVD-ROM or CD-ROM that is an optical storage medium. You may comprise with various information storage media.
As described above, the road information collection program 51 is not necessary when stored in the ROM 22 in advance, and is stored by later installation when it is not stored.

In the map DB 52, map data, road data, destination data, guidance point data, various data necessary for map display, route search, and route guidance used in the road information collection processing and navigation processing in the present embodiment, Detailed destination data and other data are stored.
As map data, a national road map, a road map of each region, a house map, or the like is stored. The road map is composed of roads such as main arterial roads, expressways, narrow streets, and ground targets (facility etc.). A house map is a city map in which a figure representing an outer shape of a ground building, a road name, and the like are displayed. The narrow street is, for example, a relatively narrow road having a road width equal to or less than a predetermined value below a national road or prefectural road.

The road data is data regarding roads such as the position and type of each road, the number of lanes, and the connection relationship between the roads, and is composed of node data and link data. The road data is used for route search and map matching, and is also used when the searched travel route is displayed over the map data.
In the road information collection process of the present embodiment, when the road data corresponding to the current position cannot be map matched, it is determined as an update candidate road.
The node data is data representing geographic coordinate data of each node used for route search on a map.
For example, a road connection point such as an intersection is represented by a node, and a road between the connection points (that is, a non-branching area of the road) is represented by a link.

The destination data is data such as the locations and names of places and facilities that are likely to be destinations such as major tourist spots, buildings, and companies / businesses described in the telephone directory.
Guidance point data is guidance data of a point where guidance is required, such as the content of a guidance display board installed on a road and guidance of a branch point.
Detailed destination data is detailed data related to each facility, etc. stored in the destination data, for example, each tenant's data in a general building, facility parking lots, entrance / exit information, etc. are associated with each destination data. Stored separately. Note that the detailed destination data may be stored together in the destination data.

  The other data file 53 includes, for example, image data of a photograph showing places where visual indications such as various facilities and sightseeing spots or major intersections are required, and when a set travel route is guided by voice. Audio data and the like are stored.

FIG. 3 shows the hardware configuration of the server 70.
The server 70 includes an information processing control device 71 and an information storage device 76. The information processing control device 71 is configured by connecting a CPU 72, a ROM 73, a RAM 74, a communication interface 75, and the like via a bus line.
The CPU 72 is a central processing unit that performs various types of information processing using programs, parameters, data, and the like stored in the information storage device 76, the ROM 73, the RAM 74, and the like. In this embodiment, the CPU 72 accumulates and aggregates road information (running data) transmitted from a plurality of navigation devices 1 according to a road information collection / update program, creates road update data, updates a map DB (road data), Transmission of road update data to each navigation device 1 is performed.

The ROM 73 is a read-only memory, and stores basic programs and parameters for operating the server 70, various programs such as the road information collection / update program in the present embodiment, and data necessary for program execution. . Similar to the navigation device 1, the road information collection / update program can be stored in the information storage device 76.
The RAM 74 is a readable / writable memory, and provides a working memory when the CPU 72 performs information processing, for example, summation of road information.

The information storage device 76 is configured by a large-capacity storage medium such as a hard disk, and includes a map DB 761, a road information storage unit 762, and the like.
Similar to the map DB 52 of the navigation device 1, the map DB 761 stores map data, road data, destination data, guidance point data, detailed destination data, and other data.
The various types of data stored in the map DB 761 are always updated with the latest information provided from information providers and institutions, so that the latest data is always saved. The road data is also updated by the road information collection / update process in the present embodiment.

  The road information accumulation unit 762 accumulates road information (running data) transmitted from a plurality of navigation devices 1, and road update data is created by aggregating the accumulated road information.

FIG. 4 shows the functional configuration of the information processing control devices 20 and 71 in the navigation device 1 and the server 70.
The information processing control device 20 of the navigation device 1 includes an estimated trajectory calculation unit 201, a map matching unit 202, an image recognition unit 203, and a collection road reference determination unit 204. Each of these functional units 201 to 204 is realized by the CPU 21 of the information processing control device 20 executing a road information collection program.
The road information collection / update unit 711 of the server 70 is realized by the CPU 72 of the information processing control device 71 executing an information collection / update program.

The estimated trajectory calculation unit 201 uses the angle information that changes with the movement of the navigation device 1 (vehicle 100) supplied from the direction sensor 12 and the movement distance of the vehicle 100 supplied from the distance sensor 13. A trajectory by travel (estimated trajectory) is calculated.
The estimated trajectory calculation unit 201 supplies the calculated estimated trajectory to the map matching unit 202 and also supplies the traveling trajectory extracted from the estimated trajectory to the collection road reference determination unit 204.
The map matching unit 202 performs map matching with road data in the map DB 52 from the current location information of the vehicle 100 supplied from the GPS receiver 14 and the estimated trajectory supplied from the estimated trajectory calculation unit 201. If map matching is not possible, it can be determined that the vehicle 100 is not traveling on the road data stored in the map DB 52, so it is determined that the vehicle 100 is currently traveling on the update candidate road, and that is the GPS receiver 14. The current location information supplied from is supplied to the collection road reference determination unit 204.

In parallel with the map matching processing by the map matching unit 202, the image recognition unit 203 performs image recognition on the captured image of the vehicle front (external world) supplied from the imaging device 15, and sends the recognition result to the collection road reference determination unit 204. Supply.
In the image recognition, the image recognition unit 203 detects a road boundary line from a captured image, recognizes whether the detected boundary line is a broken line or a continuous line, a boundary line color, and a road width.

The collection road reference determination unit 204 determines the update candidate road from the travel locus from the estimated locus calculation unit 201, the information indicating that the road is an update candidate road from the map matching unit 202, the current location information, and the image recognition result from the image recognition unit 203. Determines whether or not the collected road standard is satisfied, and if it is determined that the collected road standard is satisfied, the road information (including the travel locus and position information based on the current location information) of the update candidate road is supplied to the communication module 26.
The road information of the update candidate road is transmitted to the server 70 via the communication module 26.

The road information collecting / updating unit 711 of the server 70 accumulates road information supplied from the plurality of navigation devices 1 and creates road update data by counting at a predetermined timing, and updates road data in the map DB 761. At the same time, it is transmitted to the navigation device 1.
The accumulated road information is aggregated every predetermined period (for example, one day), and road information about the same update candidate road (determined from the position information and the shape of the travel locus) is a predetermined number ( For example, road update data is created for 10 or more update candidate roads. The road update data is data for newly storing road data corresponding to the update candidate road, and includes node data and link data for configuring the road data.

Next, road information collection and update processing by the navigation device 1 and the server 70 will be described.
FIG. 5 is a flowchart showing the contents of the road information collection process performed by the navigation device 1.
When the vehicle 100 starts traveling, the information processing control device 20 of the navigation device 1 determines whether or not the vehicle is currently traveling on the update candidate road (step 10). That is, since the information processing control device 20 performs map matching of the current vehicle position and can perform map matching, it can determine that the vehicle is running on the road data stored in the map DB 52 instead of the update candidate road. (Step 10; N), the process proceeds to Step 17.

On the other hand, if map matching is not possible, the information processing control device 20 can determine that the vehicle 100 is not traveling on the road data stored in the map DB 52, and therefore determines that the vehicle 100 is currently traveling on the update candidate road. (Step 10; Y), a travel locus is extracted (Step 11).
Here, the information processing control device 20 extracts a travel locus from the estimated locus of the vehicle 100 calculated from the angle information and the movement distance information supplied from the direction sensor 12 and the distance sensor 13.

  In parallel with the map matching, the information processing control device 20 recognizes the outside world by performing image recognition on the captured image supplied from the imaging device 15 (step 12). In the recognition of the outside world by this image recognition, the information processing control device 20 detects the boundary line of the road, recognizes whether the detected boundary line is a broken line or a continuous line, the color of the boundary line, and the road width. The detection of the boundary line is performed based on various well-known techniques such as edge detection and color detection by image processing.

Next, the information processing control device 20 determines whether or not the update candidate road that is currently traveling satisfies the collection road criterion based on the image recognition result (step 13).
FIG. 6 is a flowchart showing the contents of the collection road standard determination process for determining whether or not the update candidate road satisfies the collection road standard.
The information processing control device 20 determines whether or not the left and right boundary lines can be detected from the image recognition result (step 131). If the left and right boundary lines cannot be detected (step 131; Y), the update candidate road is There is a possibility other than a road such as a parking lot, and it is determined that the collection road standard is not satisfied (step 132), and the process returns to the main routine.

On the other hand, when the left and right boundary lines can be detected (step 131; N), whether one of the left and right boundary lines is a broken line (step 133), and whether one or both of the left and right boundary lines is yellow. (Step 134), it is determined whether or not the road width is 5.5 m or more (Step 135).
In the flowchart of FIG. 6, the determination is made in the order of steps 133 to 135, but the order may be any order. As a result, if any one of the conditions is satisfied, it is determined that the collection road standard is satisfied regardless of whether other conditions are satisfied.
The road width is determined from the detected distance between the left and right boundary lines. In the present embodiment, the distance between the boundary lines is determined as the road width, but the width between the boundary lines + α may be determined as the road width.

When none of the conditions of steps 133 to 135 is satisfied (step 133; N, 134; N, 135; N), the information processing control device 20 may collect the update candidate road as a living road or a private road. It is determined that the road standard is not satisfied (step 136), and the process returns to the main routine.
On the other hand, if any one of the conditions is satisfied in Steps 133 to 135 (Step 133; Y, 134; Y, 135; Y), the information processing control device 20 determines that the update candidate road satisfies the collection road standard. It is determined that the road is a road (step 137), and the process returns to the main routine.

After the above-described collection road reference determination (step 13, FIG. 6), the information processing control device 20 determines whether or not the update candidate road is a probe target road based on the determination result (step 14).
That is, if it is determined in Steps 132 and 136 that the collection road standard is not satisfied, the information processing control device 20 determines that the update candidate road is not a probe target road (Step 14; N), and the road of the update candidate road The process proceeds to step 17 without saving the information.

On the other hand, when it is determined in step 137 that the collection road criterion is satisfied, the information processing control device 20 determines that the update candidate road is a probe target road (step 14; Y) and probes the travel data (step 15). ). That is, the information processing control device 20 stores the travel locus extracted in step 11 and its position information in the predetermined area of the RAM 24 as travel data.
The information processing control device 20 transmits the travel data stored in the RAM 24 to the server 70 via the communication module 26 (step 16).

Next, the information processing control device 20 determines whether or not traveling has ended based on whether or not the ignition key is turned off (step 17).
When the ignition key is turned off, it is determined that the traveling is finished (step 17; Y), and the information processing control device 20 finishes the road information collecting process.
On the other hand, when it is not determined that the travel has ended (step 17; N), the information processing control device 20 returns to step 10 and continues collecting road information.

Next, processing of the server 70 will be described.
FIG. 7 is a flowchart showing the contents of the road information collection / update process by the server 70.
When the travel data (road data) is transmitted from any one of the plurality of navigation devices 1, the information processing control device 71 of the server 70 receives this and stores it in the road information storage unit 762 (step 20). .
The information processing control device 71 aggregates the travel data at a predetermined timing (step 21) and creates road update data (step 22).
Furthermore, the information processing control device 71 updates the map DB 761 with the created road update data (step 23).
The information processing control device 71 transmits the created road update data to the navigation device 1 (step 24) and returns.
Although various methods are possible for the timing for transmitting the road update data to the navigation device 1, in this embodiment, the navigation device 1 that has transmitted the road information to the server 70 at the timing when the road information is received. Sending against.

In the navigation apparatus 1, when road update data is received from the server 70, the road update data received by the information processing control apparatus 20 is updated by adding it to the map DB 52 as newly added road information.
As a result, the navigation device 1 can correctly provide navigation functions such as map matching, travel route search, and travel route guidance according to the updated map DB 52.

As described above, according to the road information collection device of the present embodiment, for the update candidate road that is determined not to meet the collection road standard for the road determined to be the update candidate road, the travel data probe and the travel data Since transmission to the server is not performed, a road that is not preferable to be shared by an unspecified number of people, such as a living road, can be omitted from the transmission target in advance.
Also, the amount of transmission data can be reduced.

Although one embodiment of the road information collection device of the present invention has been described above, the present invention is not limited to the described embodiment, and various modifications can be made within the scope described in each claim. is there.
For example, in the embodiment described, in the navigation device 1, update candidate roads that satisfy the collection road criterion are uniformly determined as main roads (FIG. 6: step 137), and travel data (travel trajectory and position information) is probed ( FIG. 5: Step 15) The case has been described.
On the other hand, the following four conditions (a) the left and right boundary lines can be detected, (b) either the left or right boundary line is a broken line, (c) either the left or right boundary line is yellow, d) Judgment is made for all road widths equal to or greater than a predetermined threshold, and if any one or more, or condition (a) and one or more other conditions are met, the collection road standard is judged to be satisfied. To do.
When it is determined that the collection road standard is satisfied, the determination results of the four conditions (a) to (d) may be set as probe targets and transmitted to the server 70. As a result, the server 70 can update the road update data by adding the number of lanes from the determination result of each condition.

  Further, the information processing control device 20 of the navigation device 1 determines the case of the update candidate road according to which of the four conditions (a) to (d) is satisfied, and the determined case is also set as the probe target in the server 70. You may make it transmit to. For example, when the conditions (b) and (c) are satisfied, the update candidate road is rated as a road having two or more lanes.

  In the collection road standard judgment processing described in FIG. 6, the collection road standard judgment is satisfied when the left and right boundary lines of the condition (a) can be detected but the other three conditions (b) to (d) are not satisfied. However, it may be determined that the collection road standard is satisfied by detecting the left and right boundary lines.

  Moreover, although embodiment demonstrated demonstrated the case where it was 5.5 m or more as a road width in condition (d), it is good also as conditions on other road widths or more. For example, the condition may be 4 m or more, or 6 m or more.

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 100 Vehicle 10 Current position detection apparatus 12 Direction sensor 13 Distance sensor 14 GPS receiver 15 Imaging apparatus 20 Information processing control apparatus 40 Input / output apparatus 50 Information storage apparatus 51 Road information collection program 52 Map DB
60 Network 70 Server 71 Information processing control device 76 Information storage device 761 Map DB
762 Road information storage unit

Claims (6)

A road information transmission device that is mounted on a vehicle and transmits collected road information to a predetermined server,
Road image acquisition means for acquiring an image of a running road;
Update candidate judging means for judging whether or not the running road is a newly established or changed update candidate road;
When it is determined that the road is a candidate for update, whether or not the running road satisfies a predetermined criterion when the left and right running borders can be detected from the road image captured for the running road. A standard judging means for judging;
Transmission means for transmitting road information about the road determined to satisfy the predetermined criteria to the predetermined server;
A road information collecting apparatus comprising:   The road information collection device according to claim 1, wherein the reference determination unit determines that the predetermined reference is satisfied when one of the left and right boundary lines is a broken line.   3. The method according to claim 1, wherein the reference determining unit determines that the predetermined criterion is satisfied when the boundary line on the right side in the traveling direction is a boundary line of a color indicating that overtaking is prohibited. Road information collection device.   The road information collection device according to claim 1, wherein the reference determination unit determines that the predetermined reference is satisfied when the road width is equal to or greater than a predetermined threshold. The reference judging means can detect the left and right boundary lines, and (a) one of the left and right boundary lines is a broken line, (b) the right boundary line is yellow, and (c) the road width is greater than or equal to a threshold value. When satisfying any one of the conditions, it is determined that the predetermined criterion is satisfied.
The road information collection device according to claim 1. A road information transmission program for causing a computer mounted on a vehicle to transmit collected road information to a predetermined server,
A road image acquisition function for acquiring an image of a road on the road;
An update candidate determination function for determining whether or not the running road is a new or changed update candidate road;
When it is determined that the road is a candidate for update, whether or not the running road satisfies a predetermined criterion when the left and right running borders can be detected from the road image captured for the running road. A standard judgment function to judge,
A transmission function for transmitting road information about the road determined to satisfy the predetermined standard to the predetermined server;
Road information collection program to make computer realize.

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