JP2019124509A - Devices and methods for determining presence or absence of limit about approach method of vehicle to facility and retreat method of vehicle from facility - Google Patents

Abstract

To provide devices and methods that enable an automatic determination of presence or absence of a limit about an approach method of a vehicle to a facility and a retreat method of the vehicle from the facility.SOLUTION: A determination device comprises: a running history information storage unit that stores running history information on a vehicle; a map database storage unit that stores a map database; a running route determination unit that determines a running route serving a route in which the vehicle approaching an entrance of a prescribed facility runs to the entrance of the prescribed facility from a prescribed point other than the prescribed facility on the basis of the running history information on the vehicle stored in the running history information storage unit; a recommendation route determination unit that determines a recommendation route when the vehicle runs from a prescribed point to the entrance of the prescribed facility, using the map database stored in the map database storage unit; and a comparison determination unit that determines presence or absence of a limit about an approach method of the vehicle to the entrance of the prescribed facility by comparing the running route determined by the running route determination unit with the recommendation route determined by the recommendation route determination unit.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an apparatus and method for determining the method of entering and leaving a vehicle to and from a facility. More particularly, the present invention relates to a technique suitable for determining the presence or absence of a restriction on the method of entering and leaving a vehicle at the entrance of a facility as content of a road map used in a navigation system or the like.

In the past, updating of road map contents (roads, intersections, traffic lights, etc.) was mainly performed by fieldwork. For example, a person in charge is assigned to each area, and the person in charge checks the content (road information) of the content of the road map by traveling in the area. As road information attached to the content, one-way regulation, entry prohibition regulation, the presence or absence of a traffic light at an intersection, etc. can be mentioned. These road information are used to operate the navigation system.
It was necessary to spend a great deal of time and cost to manually update such road information.
Techniques for automatically extracting an object to be updated are introduced in Patent Literatures 1 to 3 for labor saving. In this technology, road information is collected using a probe car.

  In order to enter a facility (including a parking lot) such as a store on the opposite lane side while traveling, it may be performed during the actual operation of the vehicle that the vehicle turns right on the way to the left of the vehicle. However, depending on the facility, there may be a sign or guidance to the effect that it is requested to prohibit or avoid an approach by a right turn from the opposite lane side from the viewpoint of securing safety and avoiding traffic congestion. Other than that, there are facilities where it is impossible to enter physically by turning to the right from the opposite lane due to the installation of the median zone and the pole cone. Alternatively, there may be a lot of traffic in the lane on the facility side, and it may be substantially impossible to approach due to a right turn from the opposite lane. As in the case where there is a facility with a restricted approach to the right turn from the opposite lane, it is prohibited or inhibited from leaving the opposite lane by turning right, or Some facilities are physically or virtually impossible.

In the road map used in the navigation system, as road information, information on the method of entering and leaving the facility on the way along the road is very limited. If a road map for a car navigation system is sufficiently equipped with such information, it is possible to propose a more convenient route for the user in destination search and the like.
A technology based on such a viewpoint is proposed in Patent Document 4. In this technology, mainly when there are a large number of probe information, which is the travel history of the probe car, having first coordinate information in which it is estimated that a vehicle turned right on the road to be judged is located. It is a technology based on the judgment that the judgment target road can be turned to the right if it is confirmed that many vehicles turned to the right.

JP, 2005-267470, A JP, 2005-267471, A JP, 2005-267472, A Patent No. 5193759 gazette

Therefore, the present invention relates to an improvement of the technology described in Patent Document 4, and an apparatus and method capable of automatically determining the presence or absence of a restriction on a method of entering and leaving a vehicle to and from a facility. Intended to be provided.
The inventors of the present invention have made earnest studies to solve the above problems, and as a result, have considered each aspect of the present invention as follows.
That is, the determination apparatus according to the first aspect of the present invention is a determination apparatus that determines the presence or absence of a restriction on the method of entering a vehicle into a facility entrance, and includes a travel history information storage unit that stores travel history information of the vehicle , A map database storage unit for storing a map database, and a travel route, which is a route along which a vehicle entering a predetermined facility entrance travels from a predetermined point other than the predetermined facility to the entrance of the predetermined facility, When the vehicle travels from the predetermined point to the entrance of the predetermined facility using the travel route judgment unit which makes judgment based on the travel history information of the vehicle stored in the unit and the map database stored in the map database storage unit By comparing the recommended route determination unit that determines the recommended route, the travel route determined by the travel route determination unit, and the recommended route determined by the recommended route determination unit, a predetermined application is performed. A comparative determination unit for determining the presence or absence of restrictions on entry method for a vehicle to the inlet, a determination device comprising a.

  According to the determination apparatus of the above configuration, by using the travel history information of the vehicle, it is possible to automatically determine the presence or absence of the restriction on the method of entering the vehicle to the entrance of the facility without the need for a field survey by an investigator. . Also, based on the result obtained by the judgment, by adding restriction information on the method of entering the vehicle to the entrance of the facility to the road map data for the car navigation system, a route more convenient for the user in destination search etc. is proposed. It can be possible road map data.

Further, according to a second aspect of the present invention, in the determination apparatus according to the first aspect, the comparison determination section determines that the vehicle enters the entrance of the predetermined facility when the distance between the traveling route and the recommended route is different from each other. It is determined that there is a limitation on the method.
Thereby, the presence or absence of the restriction on the method of entering the vehicle into the entrance of the facility can be determined clearly and simply.

Further, according to a third aspect of the present invention, in the determination device according to the first aspect, the travel route determination unit determines a plurality of travel routes based on the travel history information stored in the travel history information storage unit. The recommended route determination unit determines a recommended route corresponding to a plurality of travel routes determined by the travel route determination unit using the map database, and the comparison determination unit is different from the corresponding recommended route among the plurality of travel routes. Based on the proportion of the travel route, it is determined whether or not there is a restriction on how to approach the entrance of a given facility.
In this way, it is possible to more accurately determine whether or not there is a restriction on how the vehicle enters the entrance of the facility.

  Further, the determination apparatus according to the fourth aspect of the present invention is a determination apparatus for determining the presence or absence of a restriction on a method of leaving a vehicle from the exit of a facility, which includes a traveling history information storage unit for storing traveling history information of the vehicle , A map database storage unit for storing a map database, and a travel route, which is a route where a vehicle leaving the exit of a predetermined facility travels from an exit of the predetermined facility to a predetermined point other than the predetermined facility, When the vehicle travels from the exit of a predetermined facility to a predetermined point using a travel route determination unit that makes a determination based on travel history information of the vehicle stored in the unit and a map database stored in the map database storage unit By comparing the recommended route determination unit that determines the recommended route, the travel route determined by the travel route determination unit, and the recommended route determined by the recommended route determination unit, a predetermined application is performed. A comparative determination unit for determining the presence or absence of restrictions on exiting method for a vehicle from the outlet, a determination device comprising a.

  According to the determination apparatus of the above configuration, by using the travel history information of the vehicle, it is possible to automatically determine the presence or absence of the restriction on the method of leaving the vehicle from the exit of the facility without the need for a field survey by an investigator. . Also, based on the result obtained by the determination, by adding restriction information on the method of leaving the vehicle from the exit of the facility to the road map data for the car navigation system, a route more convenient for the user in destination search etc. is proposed. It can be possible road map data.

Further, according to a fifth aspect of the present invention, in the determination apparatus according to the fourth aspect, the comparison / determination unit exits the vehicle from the exit of the predetermined facility when the distance between the traveling route and the recommended route is different from each other. It is determined that there is a limitation on the method.
Thereby, the presence or absence of the restriction on the method of leaving the vehicle from the exit of the facility can be determined clearly and easily.

Further, according to the sixth aspect of the present invention, in the determination device according to the fourth aspect, the travel route determination unit determines a plurality of travel routes based on the travel history information stored in the travel history information storage unit. The recommended route determination unit determines the recommended route corresponding to the plurality of travel routes determined by the travel route determination unit using the map database, and the comparison determination unit determines the corresponding recommended route among the plurality of travel routes. And the presence or absence of restrictions regarding how to leave the vehicle from the exit of the predetermined facility based on the ratio of the travel route different from the above.
This makes it possible to more accurately determine whether or not there is a restriction on the method of leaving the vehicle from the exit of the facility.

  Further, the determination apparatus according to the seventh aspect of the present invention is a determination apparatus for determining the presence or absence of a restriction on a method of entering or leaving a vehicle to an entrance of a facility or a method of exiting a vehicle from the entrance of a facility A travel history information storage unit for storing information, and a first travel route, which is a route along which a predetermined vehicle that has entered an entrance of a predetermined facility travels from a predetermined point other than the predetermined facility to the entrance of the predetermined facility. A first travel route determination unit that makes a determination based on travel history information of a predetermined vehicle stored in the travel history information storage unit, and a second travel route in which the predetermined vehicle travels from the entrance of the predetermined facility to a predetermined point A second travel route determination unit that determines the travel route of the vehicle based on the travel history information of the predetermined vehicle stored in the travel history information storage unit; and the first travel route determined by the first travel route determination unit , Second travel A comparison / determination unit that determines whether or not there is a restriction on the method of entering a vehicle into the entrance of a predetermined facility or the method of exiting a vehicle from the entrance of a predetermined facility by comparing the second travel route determined by the determination unit. And.

  According to the determination apparatus of the above configuration, the use of the travel history information of the vehicle eliminates the need for a field survey by an investigator, and automatically detects the presence or absence of a restriction on the method of entering or leaving the vehicle from the entrance of the facility. It can be determined by In addition, based on the result obtained by the determination, the user in the destination search etc. by adding restriction information on the method of entering or leaving the vehicle to the entrance of the facility to the road map data for the car navigation system. A more convenient route can be proposed as road map data that can be proposed.

Further, according to an eighth aspect of the present invention, in the determination apparatus according to the seventh aspect, the comparison determination unit determines that the distance between the first travel route and the second travel route is different from each other in the predetermined facility. It is determined that there is a restriction on at least one of the method of entering the vehicle into the entrance and the method of leaving the vehicle from the entrance of the predetermined facility.
Thus, it is possible to clearly and simply determine whether or not there is a restriction on the method of entering or leaving the vehicle from the entrance to the facility.

Further, according to a ninth aspect of the present invention, in the determination apparatus according to the seventh aspect, the first travel route judgment unit and the second travel route judgment unit execute the travel saved in the travel history information storage unit. A plurality of first travel routes and a second travel route pair are determined based on the history information, and the comparison determination unit determines the plurality of first travel route determination units and the plurality of first travel route determination units determined. A method of entering a vehicle into the entrance of a predetermined facility or a predetermined facility based on the ratio of the pair of the first travel route and the second travel route which are different among the pair of the second travel route and the second travel route Judge the presence or absence of restrictions on how to leave the vehicle from the entrance.
Thus, it is possible to more accurately determine whether or not there is a restriction on the method of entering or leaving the vehicle at the entrance of the facility.

  The determination methods defined in the tenth to eighteenth aspects of the present invention correspond to the determination devices defined in the first to ninth aspects described above, respectively, and have similar actions and unique effects. Further, the program defined in the nineteenth to twenty-seventh aspects of the present invention corresponds to the determination method defined in the tenth to eighteenth aspects described above, and has similar actions and unique effects.

FIG. 1 is a block diagram showing the hardware configuration of the restriction determination device according to the first embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of the limit determination unit according to the first embodiment. FIG. 3 is a part of a flowchart for explaining the flow of the restriction determination process according to the first embodiment. FIG. 4 is a part of a flowchart for explaining the flow of the restriction determination process according to the first embodiment. FIG. 5 is a schematic view for explaining the situation of the limitation determination process by the limitation determination device according to the first embodiment. FIG. 6 is a schematic diagram for explaining the situation of the limitation determination process by the limitation determination device according to the first embodiment. FIG. 7 is a schematic diagram for explaining the situation of the limitation determination process by the limitation determination device according to the modification. FIG. 8 is a schematic diagram for describing the state of the limit determination process by the limit determination device according to the modification. FIG. 9 is a part of a flowchart for explaining the flow of restriction determination processing according to the second embodiment of the present invention. FIG. 10 is a schematic diagram for explaining the state of the restriction determination process according to the second embodiment. FIG. 11 is a schematic diagram for explaining the state of the restriction determination process according to the second embodiment.

Hereinafter, a plurality of embodiments and modifications of the present invention will be described with reference to the attached drawings.
First Embodiment
In the present invention, the travel history information (generally referred to as "probe information") of the probe car includes at least its coordinate information (latitude and longitude) and direction information when the probe car exists in the coordinates. If it is a vehicle which has a position detection function, such as GPS, such information can be specified. Further, as described in, for example, Japanese Patent Application Laid-Open No. 2002-150495, a system for performing bidirectional information transmission between a navigation system of a vehicle and a base station is well known. Therefore, if the said information transfer system is utilized, the general vehicle equipped with the navigation system can be used as a probe car. Of course, this does not exclude the use of a probe car equipped with a dedicated device for collecting road information.

As travel history information, other than the coordinate information and the direction information, it is also possible to use information on the vehicle condition of the probe car. As information on the vehicle condition of the probe car, information on time information of the probe car, information on a turn signal lamp, a steering wheel, a brake, a light, a speed and the like can be mentioned. More specifically, the on / off of the turn signal lamp, the brake, and the light is detected, the rotation angle of the steering wheel is detected, and the value of the speedometer is detected for the speed.
Furthermore, information on start and stop of the vehicle can also be used as travel history information.

The travel history information may be corrected by map matching or the like. Thereby, the error included in the traveling history information can be reduced.
Here, the map matching is a technology for preventing the position of the probe car from coming off the road of the map information in the car navigation system, whereby the position of the probe car is always present on the road. In order to perform map matching, a traveling locus is formed from coordinate information, probe information, moving distance, etc. of a probe car in a car navigation system, and this traveling locus is compared with road shape data in map information. Since there are a plurality of road shape data, weighting is performed according to a predetermined priority to select one road. Then, the coordinates of the probe car are changed to the coordinates on the road.
Also, this map matching may be performed on the base station side which has received the traveling history information from the probe car.

(Limit determination device 1)
FIG. 1 is a block diagram showing an example of the hardware configuration of the restriction determination device 1 according to the present embodiment. The restriction determination device 1 of the present embodiment is a device that uses the travel history information of the probe car and the map data to determine whether there is any restriction in the method of entering the facility entrance by the vehicle. The determination result by the limitation determination device 1 can be used for updating map data and the like. As shown in FIG. 1, the restriction determination device 1 includes a control device 10, a display device 20, an input device 30, an output device 40, a storage device 50, a travel history database 60 (travel history DB), and a map database 70 (map DB). , System bus 80. The hardware configuration of the restriction determination device 1 is one in which various elements are coupled to the control device 10 via a system bus 80 as in a general computer system.

  The control device 10 includes a CPU 11 (Central Processing Unit), a ROM 12 (Read Only Memory), and a RAM 13 (Random Access Memory), and controls the entire restriction determination device 1. The CPU 11 controls the entire control device 10. The ROM 12 includes a non-volatile memory (not shown) in which a control program for controlling the control device 10 and the like is stored. The RAM 13 readably stores data input by the user through the input device 30, and provides a working area to the CPU 11. The control program for controlling the control device 10 may be stored not only in the ROM 12 but also in the RAM 13 or the storage device 50.

The display device 20 is a device including a display screen for displaying various display data under the control of the control device 10. As the display screen, a CRT type, a liquid crystal type, a plasma display type or the like can be used.
The input device 30 may be configured of a keyboard, a mouse, keys, switches, buttons, a remote control, a microphone, a connector, a slot, and the like for inputting various commands and data. When the display device 20 is a touch panel system, the touch panel provided on the display screen of the display device 20 also functions as the input device 30.
The output device 40 is a printer, a plotter, an external storage device, or the like, and has a function of outputting the determination result by the restriction determination device 1 or the like.
The storage device 50 is configured by, for example, an HDD or the like, and may be used to store the determination result by the restriction determination device 1 or the like.

The travel history database 60 stores travel history data in which travel history information of the probe car is digitized.
Map data is stored in the map database 70. The map data includes map information, road information, information such as buildings, and other information in association with the latitude information and the longitude information. The map information includes a node and a link for designating a road, and the road information includes a road type, a speed limit, a road width, the presence or absence of a central separation zone, and various restriction information (one-way restriction etc.).
The substance of the travel history database 60 and the map database 70 is a storage device such as an HDD. The travel history database 60 and the map database 70 may be included in the storage device 50.
The restriction determination device 1 may further include a communication control device so that traveling history information from the probe car can be received via network communication.

Programs (OS program, application programs (including those of the present invention)) necessary for operating the restriction determination device 1 including the above computer system are installed in the system via various recording media. For example, it is possible to install in the form of a communication medium using a non-writing recording medium (CD-ROM, ROM card etc.), a writable recording medium (FD, DVD etc.) and a network. Of course, these programs can be written in advance in the non-volatile memory or the storage device 50.
The hardware configuration of the restriction determination device 1 described above is an example, and any configuration that can achieve the object of the present invention can be adopted.

(Limit determination unit)
The restriction determination unit 100 according to the present embodiment is configured by cooperation of the hardware and software of the restriction determination device 1 described above. The restriction determination unit 100 has a function of determining the presence or absence of a restriction on the method of vehicle entry from the road to the facility entrance. The restriction determination unit 100 is realized by the control device 10 executing a predetermined program stored in the ROM 12 or the like. A configuration example of the restriction determination unit 100 is shown in FIG. As shown in FIG. 2, the restriction determination unit 100 includes a facility specification unit 101, a travel history extraction unit 102, a determination point setting unit 103, a recommended route determination unit 104, a comparison determination unit 105, and a determination result counting unit. And a determination result output unit 107.

The facility designating unit 101 has a function of designating a facility to be subjected to the determination as to whether or not the method of entering by the vehicle is restricted. The facility designation unit 101 may automatically designate a facility according to the setting, or may allow the user to designate a facility using the input device 30. In the latter case, for example, the facility designation unit 101 takes out predetermined map data from the map database 70, displays a map on the display device 20, and allows the user to select a facility displayed on the map by the input device 30. It may be specified by.
The traveling history extraction unit 102 extracts, from the traveling history database 60, traveling history data of a probe car that has traveled a route entering from the entrance of the facility designated by the facility designation unit 101.
Based on the travel history data extracted by the travel history extraction unit 102, the determination point setting unit 103 sets an arbitrary point on the route traveled by the probe car as a determination point.

  Based on the map data stored in the map database 70, the recommended route determination unit 104 determines the recommended route to the entrance of the facility designated by the facility designation unit 101, based on the determination point set by the determination point setting unit 103. The determination of the recommended route can be performed using a route search technique generally used in a car navigation device. Generally, a route search in a car navigation device uses a map database in which costs are given to nodes representing links or intersections representing roads. The link cost given to the link is set based on the travel time, distance, etc. of the link. Then, based on the Dijkstra method or the like, the route with the smallest link cost is determined as the optimum route.

  The comparison / determination unit 105 compares the actual travel route based on the travel history data extracted by the travel history extraction unit 102 with the recommended route determined by the recommended route determination unit 104, and from these determination points, the entrance of the facility to be determined. It is judged whether or not it is substantially the same in the sections up to, and if it is substantially the same, it is judged that there is no restriction on the approach method of the vehicle at the entrance of the facility to be judged. If this is not the case, it is determined that the entrance method of the facility to be determined has a restriction on the approach method of the vehicle. For example, when the matching rate between the actual travel route from the determination point to the entrance of the facility to be determined and the recommended route is equal to or greater than a predetermined value, or the difference between the two routes is equal to or less than a predetermined value It can be determined that both are substantially the same.

  If there is a restriction on how to access the facility by vehicles, if it is prohibited or inhibited from entering the facility by turning right from the opposite lane of the facility, or physically or virtually impossible Can be considered. FIG. 5 is a diagram for explaining the difference between the actual travel route and the recommended route in one example of such a case. In FIG. 5, the case where the vehicle is determined to pass on the left side of the road is taken as an example (same in FIGS. 6-8, 10, 11). FIG. 5 shows an example of an actual traveling route by a solid line a and an example of a recommended route by a broken line b when the probe car starting from the departure point 202 enters the facility 201 from the opposite lane of the facility 201. . It is prohibited, suppressed, or physically or substantially impossible to turn right from the opposite lane of the facility 201 to enter the entrance of the facility 201. However, it is assumed that the map data used in determining the recommended route b does not include information that such a right turn from the opposite lane to the facility 201 can not be made.

Then, the recommended route b enters the facility 201 with the shortest route from the opposite lane of the facility 201, so it becomes a route in which a right turn is made in front of the entrance. On the other hand, on the actual traveling route a, since it can not enter by turning right in front of the entrance, after passing the entrance, make a U-turn at an appropriate place and return to the entrance front and enter the facility by turning left from the lane on the facility side It is a route.
If you can not enter the facility entrance by turning to the right, you do not have to go past the U-turn after passing the entrance as in the example in Figure 5, for example, as shown in Figure 6, turn right at the intersection just before the facility entrance After going around the facility, it may be possible to take a left turn from the lane on the facility side to enter the facility entrance, and the facility side may also make such a request to the driver.

  The type of the actual travel route when the right turn to the facility entrance can not be made is not limited to the above, but as understood from FIGS. 5 and 6, the actual travel route a is different from the recommended route b and the departure point The route from 202 to the facility entrance tends to be longer on the actual travel route a than on the recommended route b. Therefore, the restriction determination device 1 of the present embodiment determines whether or not there is a restriction on the method of entering the vehicle into the entrance of the facility by comparing the actual traveling route a with the recommended route b. The determination point for comparing the actual traveling route a and the recommended route b can be an arbitrary point on the actual traveling route a, and can be the departure point 202, the intersection 203 in the middle, and the like. However, in order to make an appropriate comparison, it is preferable that the determination point be one or more blocks away from the block where the determination target facility is present. In addition, if the determination point is too far from the facility entrance, the portion of the route unrelated to the determination becomes long, which may reduce the accuracy of the determination. Taking the above into consideration, the determination points may be set arbitrarily so that appropriate determination can be made.

In order to improve the determination accuracy, the determination result counting unit 106 adds up the determination results by the comparison determination unit 105 performed using a plurality of traveling history data, and the actual traveling route a and the recommended route b are not substantially identical. Finally, based on the ratio of cases, it is determined whether or not there is a restriction on how to approach vehicles to the facility. The determination result counting unit 106 may be included in the comparison determination unit 105.
The determination result output unit 107 outputs the determination result by the determination result counting unit 106 to the outside. Specifically, under the control of the control device 10, the determination result may be displayed on the display device 20, output and stored in the storage device 50, or output to the output device 40. According to this determination result, it is possible to determine whether or not there is a limit to the method of entering the facility entrance by the vehicle without conducting a field survey. The map database stored in the map database 70 may be updated using the determination result output from the determination result output unit 107.

(Limit determination process)
FIG. 3 and FIG. 4 are flowcharts showing a flow of restriction determination processing performed by the restriction determination unit 100 of the present embodiment. As illustrated, in step S1, the facility designation unit 101 designates a facility to be subjected to the determination of the presence or absence of the restriction on the approach method of the vehicle. In the subsequent step S2, the travel history extraction unit 102 determines that the travel history data determined to have entered from the entrance of the determination target facility (that is, the travel history data including the entrance of the determination target facility in the travel route) Extract from Here, it is assumed that the number of pieces of travel history data extracted as a result of meeting the conditions is N. Alternatively, the maximum value of the traveling history data extracted by the traveling history extraction unit 102 may be set to N, and only N pieces of traveling history data meeting the conditions may be extracted.

In the subsequent step S3, the parameter Ny is initialized (Ny = 0). The application of the parameter Ny will be described later.
In the following step S4, the counter k is initialized (k = 1).
In the subsequent step S5, the determination point setting unit 103 sets a determination point on the actual traveling route k determined from the traveling history data k which is the kth (k = 1 to N) traveling history data. The method of setting the determination points is as described above.
In the subsequent step S6, the recommended route determination unit 104 sets the recommended route k from the determination point set by the determination point setting unit 103 with respect to the travel history data k to the entrance of the facility designated by the facility designation unit 101 to the map database 70. It makes a decision using the stored map data.
In the following step S7, it is determined whether the actual travel route k determined from the travel history data k and the recommended route k determined by the recommended route determination unit 104 are substantially the same. The determination method is as described above.

If the determination result in step S7 is affirmative, in step S8, the determination result counting unit 106 increments the parameter Ny (Ny = Ny + 1), and the process proceeds to step S9. If the determination result in step S7 is negative, the process skips step S8 and proceeds to step S9.
In step S9, the determination result counting unit 106 increments the counter k (k = K + 1).
In the subsequent step S10, the judgment result counting unit 106 judges whether the counter k has reached N or not. If the determination result in step S10 is affirmative, the process proceeds to step S11. If the determination result in step S10 is negative, the process returns to step S5.

In step S11, based on whether the ratio of the parameter Ny to N is equal to or greater than a predetermined value, the determination result counting unit 106 determines whether the method of entering the vehicle to the entrance of the facility to be determined is limited. Specifically, when the ratio of the parameter Ny to N is equal to or more than a predetermined value, it is determined that the method of entering the vehicle to the entrance of the facility to be determined is restricted, and otherwise not determined. Do.
In the subsequent step S12, the determination result output unit 107 outputs the determination result in step S11.

(Modification)
Although the restriction determination device 1 according to the first embodiment determines whether there is a restriction on the method of entering the facility by the vehicle, the present invention is not limited to this. You may judge. Therefore, as a modification, the case where the restriction determination device 1 determines the presence or absence of the restriction on the method of leaving the vehicle from the facility will be described below.
If there is a restriction on how to leave the facility by vehicles, it may be considered that leaving the facility from the facility to the opposite lane is prohibited or inhibited from leaving or it is physically or substantially impossible. . FIG. 7 is a diagram for explaining the difference between the actual travel route and the recommended route in one example of such a case. In FIG. 7, in the case where the probe car travels to the destination 202 after exiting from the exit of the facility 201, an example of an actual traveling route is shown by a solid line a, and an example of a recommended route is shown by a broken line b. From the exit of the facility 201, it is assumed that entering the opposite lane is prohibited or suppressed from entering the opposite lane or it is physically or substantially impossible. However, it is assumed that the map data used in determining the recommended route b does not include such information that the facility 201 can not exit due to a right turn to the opposite lane.

As shown in FIG. 7, the recommended route b is a route that turns right immediately from the exit of the facility 201 and enters the opposite lane, while the actual travel route a can not immediately exit right from the exit, From the exit, enter the lane on the facility side, make a U-turn at an appropriate place, and then enter the opposite lane.
As another example in the case where the right exit from the facility exit can not be made, as shown in the actual travel path a in FIG. 8, the method of entering the lane on the facility side from the facility exit and going around the facility is taken. There are also cases where the facility side also makes such a request to the driver.

  The type of the actual travel route when exit from the facility exit can not be made by the right turn is not limited to the above, but as understood from FIGS. 7 and 8, the actual travel route a differs from the recommended route b, The route from the route to the destination 202 tends to be longer on the actual travel route a than on the recommended route b. Therefore, the restriction determination device 1 of the present modified example determines the presence or absence of the restriction on the method of leaving the vehicle from the exit of the facility by comparing the actual traveling route a with the recommended route b.

Based on FIG. 2, functions of the respective units of the restriction determination unit 100 of the modification will be described focusing on parts different from the first embodiment.
The facility designating unit 101 has a function for designating a facility to be subjected to the determination as to whether or not there is a restriction on the method of leaving the vehicle from the facility.
The traveling history extraction unit 102 extracts, from the traveling history database 60, traveling history data of a probe car that has traveled a route leaving the exit of the facility designated by the facility designation unit 101.
Based on the travel history data extracted by the travel history extraction unit 102, the determination point setting unit 103 sets an arbitrary point on the route traveled by the probe car as a determination point when comparing the actual travel route and the recommended route. . In order to make an appropriate comparison, it is preferable that the determination point be at least one block away from the block where the determination target facility exists. In addition, when the determination point is too far from the facility exit, the route portion unrelated to the determination may be long, and the accuracy of the determination may be reduced. Taking the above into consideration, the determination points may be set arbitrarily so that appropriate determination can be made.

The recommended route determination unit 104 determines a recommended route from the exit of the facility designated by the facility designation unit 101 to the determination point set by the determination point setting unit 103 based on the map data stored in the map database 70.
The comparison determination unit 105 compares the actual travel route extracted by the travel history extraction unit 102 with the recommended route determined by the recommended route determination unit 104, and in the section from the exit of the facility to be determined to the determination point If it is substantially the same, it is determined that there is no restriction on the exit method of the vehicle at the exit of the facility to be determined. If this is not the case, it is determined that the exit of the facility to be judged is limited in the method of leaving the vehicle. For example, when the matching rate between the actual travel route from the exit of the judgment target facility to the judgment point is equal to or higher than a predetermined value, or the difference between the directions of both is equal to or lower It can be determined that both are substantially the same.

In order to improve the determination accuracy, the determination result counting unit 106 adds up the determination results by the comparison determination unit 105 performed using a plurality of traveling history data, and the actual traveling route and the recommended route are not substantially the same. Finally, based on the ratio, determine whether there is a restriction on how to leave the vehicle from the facility.
The determination result output unit 107 outputs the determination result from the determination result counting unit 106 to the outside. According to the determination result, it is possible to determine whether or not there is a restriction on the method of leaving the vehicle from the facility exit without conducting a field survey. The map database stored in the map database 70 may be updated using the determination result output from the determination result output unit 107.

Next, the flow of the restriction determination process performed by the restriction determination unit 100 of the modification will be described with reference to the flowcharts of FIGS. 3 and 4, focusing on differences from the first embodiment.
In step S1, the facility designation unit 101 designates a facility to be subjected to the determination of the presence or absence of the restriction on the vehicle leaving method. In the subsequent step S2, the travel history database is determined to be that the travel history extraction unit 102 has exited from the exit of the determination target facility (that is, travel history data including the exit of the determination target facility in the travel route) Extract from 60 Here, let N be the number of data of the traveling history data extracted as a result of meeting the conditions. Alternatively, the maximum value of the traveling history data extracted by the traveling history extraction unit 102 may be N, and only N pieces of traveling history data meeting the conditions may be extracted.

Steps S3 and S4 are the same as in the first embodiment.
In the subsequent step S5, the determination point setting unit 103 sets a determination point on the actual traveling route k determined from the traveling history data k which is the kth (k = 1 to N) traveling history data.
In the subsequent step S6, the recommended route determination unit 104 transmits the recommended route k from the exit of the facility designated by the facility designation unit 101 to the decision point set by the decision point setting unit 103 for the travel history data k in the map database 70. It makes a decision using the stored map data.
In the following step S7, it is determined whether the actual travel route k determined from the actual travel data k and the recommended route k determined by the recommended route determination unit 104 are substantially the same.

Steps S8 to S10 are the same as in the first embodiment.
In step 11, based on whether the ratio of the parameter Ny to the size of N is a predetermined value or more, the determination result counting unit 106 determines whether there is a restriction on the method of leaving the vehicle from the exit of the facility to be determined. Do. Specifically, when the ratio of the parameter Ny to the size of N is a predetermined value or more, it is determined that there is a restriction on the method of leaving from the exit of the judgment target facility, otherwise there is no restriction judge.
Step S12 is the same as in the first embodiment.

Second Embodiment
Next, restriction determination processing according to a second embodiment of the present invention will be described with reference to FIGS. In this embodiment, on the basis of the travel history data, by comparing the travel route when entering the entrance of the facility with the travel route when exiting from the entrance of the facility, it is possible to enter or exit the vehicle at the entrance of the facility. Determine if the method is limited.
As an example in the case where there is a restriction in the method of entering vehicles into the facility, in the example shown in FIG. 10, when the probe car leaving from the departure point 202 enters the facility 201 from the opposite lane of the facility 201, As shown in the actual traveling route on the forward route, after passing through the entrance, a U-turn is made at an appropriate place to return to the entrance, and the facility enters the facility by turning left from the lane on the facility side. On the other hand, when the same probe car exits from the entrance of the facility 201, it turns left to be a route (return route actual travel route a2) for traveling on the facility side vehicle path, which is different from the forward route actual travel route a1. . If there is no restriction in the way of entry to the entrance and exit, it is usually considered that the forward actual traveling route a1 is substantially the same as the return actual traveling route a2.
Similarly, in the example shown in FIG. 11, as another example in the case where the right turn approach to the facility entrance is not possible, the outbound route actual travel route a1 turns right at the intersection just before the facility entrance and rounds around the facility. The route from the side lane to the facility entrance by turning left, while the return route actual travel path a2 is the route to exit left from the facility entrance and enter the facility side lane.

  The type of the actual travel route when the entrance to the facility entrance can not be reached by the right turn is not limited to the above, but as understood from FIGS. 10 and 11, the forward actual travel route a1 is different from the return actual travel route a2. The outward actual traveling route a1 tends to be longer than the return actual traveling route a2. In addition, even when there is a limitation in the method of leaving the vehicle from the facility entrance and exit, it is considered that there is a high possibility that the forward actual traveling route a1 and the return actual traveling route a2 will not be substantially identical. Therefore, the restriction determination device 1 according to the present embodiment determines whether the method of entering or leaving the vehicle at the entrance of the facility 201 is limited by comparing the outward actual traveling route a1 with the returning actual traveling route a2. It is.

Hereinafter, the functions of the units of the restriction determination unit 100 according to the present embodiment will be described focusing on differences from the first embodiment. The restriction determination unit 100 of the present embodiment does not require the function of the recommended route determination unit 104 in the configuration shown in FIG.
The facility designating unit 101 designates a facility to be subjected to the determination as to whether the method of entering or leaving the vehicle at the facility entrance is limited.
The traveling history extraction unit 102 extracts, from the traveling history database 60, traveling history data of a probe car that has entered the entrance of the facility designated by the facility designation unit 101 and has traveled the route exiting from the same entrance.
Based on the travel history data extracted by the travel history extraction unit 102, the determination point setting unit 103 sets an arbitrary point on the route traveled by the probe car as a determination point. The determination point can be any point on the round trip actual traveling route. However, in addition to being required to be included in both of the round trip actual travel routes, it is preferable that the determination point be separated by one or more blocks from the block where the determination target facility is present, in order to perform an appropriate comparison. In addition, if the determination point is too far from the facility entrance, the route portion unrelated to the determination may become long, and the accuracy of the determination may be reduced. Taking the above into consideration, the determination points may be set arbitrarily so that appropriate determination can be made.

  The comparison / judging unit 105 compares the forward traveling route and the return traveling route extracted by the traveling history extracting unit 102, and they are substantially the same in the section between the entrance of the facility to be determined and the determination point. If they are substantially the same, it is determined that there is no restriction on the approach method and exit method of the vehicle at the entrance of the facility to be determined. If this is not the case, it is determined that the entrance of the facility to be judged is limited in how to enter or leave the vehicle. If substantially the same, for example, the coincidence rate of the actual traveling route of the round trip between the entrance of the judgment object facility and the judgment point is equal to or more than a predetermined value, or the difference between the directions of the two is equal to or less than a predetermined value It can be determined that both are substantially the same.

In order to improve the determination accuracy, the determination result counting unit 106 sums the determination results by the comparison determination unit 105 performed using a plurality of travel history data, and calculates the ratio in the case where the actual travel route of reciprocation is not substantially the same. Finally, it is determined whether or not there is a restriction on how to enter or leave the vehicle at the facility entrance.
The determination result output unit 107 outputs the determination result from the determination result counting unit 106 to the outside. According to the determination result, it is possible to determine whether there is a restriction on the method of entering or leaving the vehicle at the facility entrance without conducting a field survey. The map database stored in the map database 70 may be updated using the determination result output from the determination result output unit 107.

FIG. 9 is a part of a flowchart showing the flow of the limitation determination process performed by the limitation determination unit 100 of the present embodiment, and is referred to along with the flowchart of FIG. 4.
As illustrated, in step S1, the facility designation unit 101 designates a facility to be subjected to the determination of the presence or absence of a restriction on the entering method or the leaving method. In the subsequent step S2, the traveling history extraction unit 102 enters traveling through the entrance of the judgment target facility and travel history data determined to have exited from the same entrance (that is, the traveling path traveling route of the entrance of the judgment target facility The travel history data included in the above is extracted from the travel history database 60. Here, let N be the number of data of the traveling history data extracted as a result of meeting the conditions. Alternatively, the maximum value of the traveling history data extracted by the traveling history extraction unit 102 may be N, and only N pieces of traveling history data meeting the conditions may be extracted.

Steps S3 and S4 are the same as in the first embodiment.
In the following step S5, the determination point setting unit 103 shares in common on the outward actual travel route k1 and the return actual travel route k2 determined from the travel history data k which is the kth (k = 1 to N) travel history data. Set the judgment point.
In the following step S7 ', it is determined whether the outward route actual traveling route k1 determined from the traveling history data k and the return route recommended route k2 are substantially the same.

The processes of steps S8 to S10 are the same as in the first embodiment.
In step 11, based on whether the ratio of the parameter Ny to N is equal to or greater than a predetermined value, the determination result counting unit 106 determines whether there is a limit to the method of entering or leaving the vehicle at the entrance of the facility to be determined. . Specifically, when the ratio of the parameter Ny to N is equal to or more than a predetermined value, it is determined that the entry method or exit method at the entrance of the judgment target facility is limited, and otherwise it is determined that there is no limitation. Do. For example, when the average value of the outward actual traveling route k1 exceeds the average value of the returning actual traveling route k2 by comparing the average value of the outward traveling actual traveling route k1 and the average value of the returning actual traveling route k2 It may be determined that the method is limited, and in the opposite case it may be determined that the method of exit is limited.
Step S12 is the same as in the first embodiment.

In the above, the terms "inlet" and "outlet" can also include the meaning of "port".
In addition, when the probe car traveling on the opposite lane of the facility approaches the facility entrance as a basis for judging that there is a restriction on how to approach the entrance of the facility using the travel history information of the probe car. Even if you turn on the right turn indicator, you may go straight ahead and pass by the facility entrance. Further, as a basis for judging that there is a restriction on the method of leaving the vehicle from the facility exit, the proportion of probe cars leaving the exit left is larger than the proportion of probe cars leaving the exit on the right.

As mentioned above, although several embodiment and modification of this invention were described, you may implement combining two or more embodiment and modification among these. Alternatively, one or more of these embodiments may be partially implemented. Furthermore, among these, two or more embodiments and modifications may be partially combined and implemented.
The present invention is not limited to the description of the embodiments and examples of the above-mentioned invention. Various modifications are also included in the present invention as long as those skilled in the art can easily conceive of the claims without departing from the scope of the claims.

1 Limit determination device 10 Control device 11 CPU
12 ROM
13 RAM
Reference Signs List 20 display device 30 input device 40 output device 50 storage device 60 travel history database 70 map database 80 system bus 100 restriction determination unit 101 facility specification unit 102 travel history extraction unit 103 determination point setting unit 104 recommended route determination unit 105 comparison determination unit 106 Judgment result counting unit 107 Judgment result output unit

Claims (28)

A determination device that determines the presence or absence of a restriction on the method of entering a vehicle into the entrance of a facility,
A traveling history information storage unit that stores traveling history information of a vehicle;
A map database storage unit for storing a map database;
The travel route, which is a route traveled by the vehicle entering the entrance of the predetermined facility from the predetermined point other than the predetermined facility to the entrance of the predetermined facility, is stored in the travel history information storage unit. A travel route determination unit that determines based on travel history information;
A recommended route determination unit that determines a recommended route when the vehicle travels from the predetermined point to the entrance of the predetermined facility using the map database stored in the map database storage unit;
By comparing the travel route determined by the travel route determination unit with the recommended route determined by the recommended route determination unit, it is determined whether or not there is a restriction on how to enter the entrance of the predetermined facility. And a comparison determination unit.   The determination device according to claim 1, wherein the comparison and determination unit determines that there is a restriction on a method of entering a vehicle to the entrance of the predetermined facility when the distance between the travel route and the recommended route is different from each other. The travel route determination unit determines a plurality of the travel routes based on the travel history information stored in the travel history information storage unit,
The recommended route determination unit determines the recommended routes corresponding to the plurality of travel routes determined by the travel route determination unit using the map database.
The comparison and determination unit determines the presence or absence of a restriction on a method of entering a vehicle into the entrance of the predetermined facility based on the ratio of the travel route different from the corresponding recommended route among the plurality of travel routes. The determination apparatus according to claim 1. A determination apparatus for determining the presence or absence of a restriction on a method of leaving a vehicle from an exit of a facility,
A traveling history information storage unit that stores traveling history information of a vehicle;
A map database storage unit for storing a map database;
The travel route, which is the route traveled by the vehicle leaving the exit of the predetermined facility from the exit of the predetermined facility to a predetermined point other than the predetermined facility, is stored in the travel history information storage unit. A travel route determination unit that determines based on travel history information;
A recommended route determination unit that determines a recommended route when the vehicle travels from the exit of the predetermined facility to the predetermined point using the map database stored in the map database storage unit;
By comparing the travel route determined by the travel route determination unit with the recommended route determined by the recommended route determination unit, it is determined whether or not there is a restriction on the vehicle exit method from the exit of the predetermined facility. And a comparison determination unit.   The determination device according to claim 4, wherein the comparison / determination unit determines that there is a restriction on a method of leaving the vehicle from the exit of the predetermined facility when the distances between the travel route and the recommended route are different from each other. The travel route determination unit determines a plurality of the travel routes based on the travel history information stored in the travel history information storage unit,
The recommended route determination unit determines the recommended routes corresponding to the plurality of travel routes determined by the travel route determination unit using the map database.
The comparison and determination unit determines the presence or absence of a restriction on a method of leaving a vehicle from the exit of the predetermined facility based on the ratio of the travel route different from the corresponding recommended route among the plurality of travel routes. The determination apparatus according to claim 4. A determination apparatus for determining the presence or absence of a restriction on a method of entering a vehicle into an entrance of a facility or a method of exiting a vehicle from the entrance of the facility,
A traveling history information storage unit that stores traveling history information of a vehicle;
The travel history information storage unit stores a first travel route, which is a route traveled from a predetermined point other than the predetermined facility to the entrance of the predetermined facility from a predetermined vehicle entering the entrance of the predetermined facility in the travel history information storage unit A first travel route determination unit that makes a determination based on the travel history information of the predetermined vehicle,
The second travel route, which is a route along which the predetermined vehicle travels from the entrance to the predetermined facility of the predetermined facility, is based on the travel history information of the predetermined vehicle stored in the travel history information storage unit. A second travel route determination unit that determines
By comparing the first travel route determined by the first travel route determination unit with the second travel route determined by the second travel route determination unit, the entrance and exit of the predetermined facility A determination apparatus comprising: a comparison determination unit that determines the presence or absence of a restriction on a method of entering or leaving a vehicle from the entrance of the predetermined facility.   When the distance between the first travel route and the second travel route is different from each other, the comparison / determination unit determines a method of entering a vehicle into the entrance of the predetermined facility and a vehicle from the entrance of the predetermined facility. The determination apparatus according to claim 7, wherein it is determined that there is a restriction regarding at least one of the exit methods of. The first travel route determination unit and the second travel route determination unit are based on the travel history information stored in the travel history information storage unit, and the plurality of first travel routes and the second travel route are determined. Judge the pair,
The comparison / judgment unit is configured to be different from each other among the plurality of pairs of the first travel route and the second travel route determined by the first travel route determination unit and the second travel route determination unit. Whether there is a restriction on the method of entering a vehicle to the entrance of the predetermined facility or the method of leaving the vehicle from the entrance of the predetermined facility based on the ratio of the pair of the first traveling route and the second traveling route The determination apparatus according to claim 7, which determines It is a determination method for determining the presence or absence of a restriction on the method of entering a vehicle into the entrance of a facility,
A traveling history information storing step for storing traveling history information of the vehicle;
Map database storage step for storing the map database;
The travel route, which is the route traveled by the vehicle entering the entrance of the predetermined facility from the predetermined point other than the predetermined facility to the entrance of the predetermined facility, is stored in the travel history information storage step A travel route determination step of determining based on travel history information;
A recommended route determination step of determining a recommended route when the vehicle travels from the predetermined point to the entrance of the predetermined facility using the map database stored in the map database storage step;
By comparing the travel route determined by the travel route determination step with the recommended route determined by the recommended route determination step, it is determined whether or not there is a restriction on how to enter the entrance of the predetermined facility. And J. comparing and judging.   The determination method according to claim 10, wherein, when the distance between the travel route and the recommended route is different from each other, the comparison determination step determines that there is a restriction on a method of entering a vehicle to the entrance of the predetermined facility. The traveling route determination step determines a plurality of the traveling routes based on the traveling history information stored by the traveling history information storage step,
The recommended route determination step determines the recommended routes corresponding to the plurality of travel routes determined by the travel route determination step using the map database.
The comparison / determination step determines the presence or absence of a restriction on a method of entering a vehicle into the entrance of the predetermined facility based on the proportion of the travel route different from the corresponding recommended route among the plurality of travel routes. The determination method according to claim 10. It is a determination method for determining the presence or absence of a restriction on the method of leaving a vehicle from the exit of the facility,
A traveling history information storing step for storing traveling history information of the vehicle;
Map database storage step for storing the map database;
A travel route, which is a route along which a vehicle having exited from an exit of a predetermined facility travels from the exit of the predetermined facility to a predetermined point other than the predetermined facility, is stored in the travel history information storage step. A travel route determination step of determining based on travel history information;
A recommended route determination step of determining a recommended route when the vehicle travels from the exit of the predetermined facility to the predetermined point using the map database stored in the map database storage step;
By comparing the travel route determined by the travel route determination step with the recommended route determined by the recommended route determination step, it is determined whether or not there is a restriction on how to leave the vehicle from the exit of the predetermined facility. And J. comparing and judging.   The determination method according to claim 13, wherein the comparison and determination step determines that there is a limitation on a method of leaving the vehicle from the exit of the predetermined facility if the distance between the traveling route and the recommended route is different from each other. The traveling route determination step determines a plurality of the traveling routes based on the traveling history information stored by the traveling history information storage step,
The recommended route determination step determines the recommended routes corresponding to the plurality of travel routes determined by the travel route determination step using the map database.
The comparison and determination step determines the presence or absence of a restriction on a method of leaving a vehicle from the exit of the predetermined facility based on the ratio of the travel route different from the corresponding recommended route among the plurality of travel routes. The determination method according to claim 13. A determination method for determining the presence or absence of a restriction on a method of entering a vehicle into an entrance of a facility or a method of exiting a vehicle from the entrance of a facility,
A traveling history information storing step for storing traveling history information of the vehicle;
The travel history information storage step stores a first travel route, which is a route traveled from a predetermined point other than the predetermined facility to the entrance of the predetermined facility from the predetermined vehicle entering the entrance of the predetermined facility by the travel history information storage step A first travel route determination step of determining based on the predetermined travel history information of the vehicle;
The second travel route, which is a route along which the predetermined vehicle travels from the entrance of the predetermined facility to the predetermined point, is based on the travel history information of the predetermined vehicle stored in the travel history information storage step. A second travel route determination step of determining;
By comparing the first travel route determined by the first travel route determination step with the second travel route determined by the second travel route determination step, the entrance and exit of the predetermined facility A comparison determination step of determining presence or absence of a restriction on a method of entering or leaving the vehicle from the entrance of the predetermined facility.   When the distance between the first travel route and the second travel route is different from each other, the comparison / determination step includes a method of entering a vehicle into the entrance of the predetermined facility and a vehicle from the entrance of the predetermined facility. The determination method according to claim 16, wherein it is determined that there is a restriction on at least one of the exit methods of The step of determining the first travel route and the step of determining the second travel route include a plurality of the first travel route and the second travel route based on the travel history information stored in the travel history information storage step. Judge the pair,
The comparing and determining step may be performed by the first driving route determining step and the second driving route determining step, wherein the first driving route determining step and the second driving route determining step determine the plurality of pairs of the first driving route and the second driving route different from each other. Whether there is a restriction on the method of entering a vehicle to the entrance of the predetermined facility or the method of leaving the vehicle from the entrance of the predetermined facility based on the ratio of the pair of the first traveling route and the second traveling route The determination method according to claim 16, wherein A computer program for determining the presence or absence of a restriction on a method of entering a vehicle into a facility entrance, comprising:
Travel history information storage means for storing vehicle travel history information;
Map database storage means for storing a map database;
The travel route, which is the route traveled by the vehicle entering the entrance of the predetermined facility from the predetermined point other than the predetermined facility to the entrance of the predetermined facility, is stored in the travel history information storage means Travel route determination means for determining based on travel history information;
Recommended route determination means for determining a recommended route when the vehicle travels from the predetermined point to the entrance of the predetermined facility using the map database stored in the map database storage means;
By comparing the travel route determined by the travel route determination means with the recommended route determined by the recommended route determination means, it is determined whether or not there is a restriction on how to approach the entrance of the predetermined facility. A computer program that functions as a comparison determination means.   20. The computer program according to claim 19, wherein said comparison / determination means determines that there is a restriction on how to approach a vehicle to the entrance of said predetermined facility if the distance between said travel route and said recommended route is different from each other. The traveling route determination unit determines a plurality of the traveling routes based on the traveling history information stored in the traveling history information storage unit,
The recommended route determination means determines the recommended routes corresponding to the plurality of travel routes determined by the travel route determination means using the map database.
The comparison and determination means determines the presence or absence of a restriction on a method of entering a vehicle into the entrance of the predetermined facility based on the ratio of the travel route different from the corresponding recommended route among the plurality of travel routes. 20. A computer program according to claim 19. A computer program for determining the presence or absence of a restriction on a method of leaving a vehicle from an exit of a facility, the computer comprising: travel history information storage means for storing travel history information of the vehicle;
Map database storage means for storing a map database;
The traveling route, which is a route where a vehicle having exited from the exit of a predetermined facility travels from the exit of the predetermined facility to a predetermined point other than the predetermined facility, is stored in the traveling history information storage means Travel route determination means for determining based on travel history information;
A recommended route determination unit that determines a recommended route when the vehicle travels from the exit of the predetermined facility to the predetermined point using the map database stored in the map database storage unit;
By comparing the travel route determined by the travel route determination means with the recommended route determined by the recommended route determination means, it is determined whether or not there is a restriction on the method of leaving the vehicle from the exit of the predetermined facility. A computer program that functions as a comparison determination means.   The computer program according to claim 22, wherein the comparison / determination means determines that there is a restriction on a method of leaving the vehicle from the exit of the predetermined facility when the distances between the travel route and the recommended route are different from each other. The traveling route determination unit determines a plurality of the traveling routes based on the traveling history information stored in the traveling history information storage unit,
The recommended route determination means determines the recommended routes corresponding to the plurality of travel routes determined by the travel route determination means using the map database.
The comparison determination means determines the presence or absence of a restriction on a method of leaving a vehicle from the exit of the predetermined facility based on the ratio of the travel route different from the corresponding recommended route among the plurality of travel routes. The computer program according to claim 22. A computer program for determining whether there is a restriction on a method of entering or leaving a vehicle at an entrance of the facility, the computer comprising: travel history information storage means for storing travel history information of the vehicle;
The travel history information storage means stores a first travel route, which is a path traveled from a predetermined point other than the predetermined facility to a predetermined entrance of the predetermined facility from a predetermined vehicle entering the entrance of the predetermined facility. A first travel route determination unit that makes a determination based on the travel history information of the predetermined vehicle,
The second travel route, which is a route along which the predetermined vehicle travels from the entrance to the predetermined facility to the predetermined point, is based on the travel history information of the predetermined vehicle stored in the travel history information storage unit. Second travel route determination means for determining
By comparing the first travel route determined by the first travel route determination means with the second travel route determined by the second travel route determination means, the entrance and exit of the predetermined facility A computer program that causes a computer to function as a comparison determination unit that determines the presence or absence of a restriction on a method of entering or leaving a vehicle from the entrance of the predetermined facility.   When the distance between the first travel route and the second travel route is different from each other, the comparison / determination means may enter the vehicle into the entrance of the predetermined facility and the vehicle from the entrance of the predetermined facility. 26. The computer program according to claim 25, wherein it is determined that there is a restriction on at least one of exit methods of. The first travel route determination means and the second travel route determination means are based on the travel history information stored in the travel history information storage means of the plurality of first travel routes and the second travel route. Judge the pair,
The comparison and determination means may be configured to be different from each other in the plurality of pairs of the first travel route and the second travel route determined by the first travel route determination means and the second travel route determination means. Whether there is a restriction on the method of entering a vehicle to the entrance of the predetermined facility or the method of leaving the vehicle from the entrance of the predetermined facility based on the ratio of the pair of the first traveling route and the second traveling route The computer program according to claim 25, which determines The recording medium which records the computer program as described in any one of Claims 19-27.

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